// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (imageLeft.IsInit())
{
// Retrieve left image
zedCamera.RetrieveMeasure(pointCloud, sl.MEASURE.XYZRGBA, sl.MEM.CPU, pcRes);
zedCamera.RetrieveImage(imageLeft, sl.VIEW.LEFT, sl.MEM.CPU, displayRes);
zedCamera.GetPosition(ref camPose, REFERENCE_FRAME.WORLD);
// Retrieve Objects
zedCamera.RetrieveObjects(ref objects, ref obj_runtime_parameters);
TrackingViewer.render_2D(ref imageLeftOcv, imgScale, ref objects, isTrackingON);
//Update GL View
viewer.update(pointCloud, objects, camPose);
viewer.render();
if (isPlayback && zedCamera.GetSVOPosition() == zedCamera.GetSVONumberOfFrames())
{
return;
}
Cv2.ImShow(window_name, imageLeftOcv);
}
}
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (zedMat.IsInit())
{
// Retrieve left image
err = zedCamera.RetrieveImage(zedMat, sl.VIEW.LEFT, sl.MEM.CPU);
if (err == ERROR_CODE.SUCCESS)
{
// Retrieve Objects
zedCamera.RetrieveObjects(ref object_frame, ref obj_runtime_parameters);
//Update GL View
viewer.update(zedMat, object_frame);
viewer.render();
}
}
}
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (point_cloud.IsInit())
{
// Retrieve Objects
err = zedCamera.RetrieveObjects(ref object_frame, ref obj_runtime_parameters);
if (err == ERROR_CODE.SUCCESS && object_frame.isNew != 0)
{
// Retrieve left image
zedCamera.RetrieveMeasure(point_cloud, sl.MEASURE.XYZRGBA, sl.MEM.CPU, res);
zedCamera.GetPosition(ref cam_pose, REFERENCE_FRAME.WORLD);
//Update GL View
viewer.update(point_cloud, object_frame, cam_pose);
viewer.render();
}
}
}
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (zedMat.IsInit())
{
// Retrieve left image
err = zedCamera.RetrieveImage(zedMat, sl.VIEW.LEFT, sl.MEM.CPU);
// Update pose data (used for projection of the mesh over the current image)
tracking_state = zedCamera.GetPosition(ref cam_pose);
if (tracking_state == POSITIONAL_TRACKING_STATE.OK)
{
timer++;
if (userAction.hit)
{
Vector2 imageClick = new Vector2((float)userAction.hitCoord.X * (float)zedCamera.ImageWidth, (float)userAction.hitCoord.Y * (float)zedCamera.ImageHeight);
findPlaneStatus = zedCamera.findPlaneAtHit(ref plane, imageClick);
if (findPlaneStatus == ERROR_CODE.SUCCESS)
{
zedCamera.convertHitPlaneToMesh(planeMeshVertices, planeMeshTriangles, out nbVertices, out nbTriangles);
}
userAction.clear();
}
//if 500ms have spend since last request (for 60fps)
if (timer % 30 == 0 && userAction.pressSpace)
{
// Update pose data (used for projection of the mesh over the current image)
Quaternion priorQuat = Quaternion.Identity;
Vector3 priorTrans = Vector3.Zero;
findPlaneStatus = zedCamera.findFloorPlane(ref plane, out float playerHeight, priorQuat, priorTrans);
if (findPlaneStatus == ERROR_CODE.SUCCESS)
{
zedCamera.convertFloorPlaneToMesh(planeMeshVertices, planeMeshTriangles, out nbVertices, out nbTriangles);
}
userAction.clear();
}
}
if (findPlaneStatus == ERROR_CODE.SUCCESS)
{
viewer.updateMesh(planeMeshVertices, planeMeshTriangles, nbVertices, nbTriangles, plane.Type, plane.Bounds, userAction);
}
viewer.updateImageAndState(zedMat, cam_pose, tracking_state);
viewer.render();
}
}
}
// Init Window
private void NativeWindow_ContextCreated(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.ReadBuffer(ReadBufferMode.Back);
Gl.ClearColor(0.0f, 0.0f, 0.0f, 1.0f);
Gl.Enable(EnableCap.Blend);
Gl.BlendFunc(BlendingFactor.SrcAlpha, BlendingFactor.OneMinusSrcAlpha);
Gl.Enable(EnableCap.LineSmooth);
Gl.Hint(HintTarget.LineSmoothHint, HintMode.Nicest);
viewer.init(zedCamera.GetCalibrationParameters().leftCam);
}
// Create Window
public void CreateWindow()
{
using (OpenGL.CoreUI.NativeWindow nativeWindow = OpenGL.CoreUI.NativeWindow.Create())
{
nativeWindow.ContextCreated += NativeWindow_ContextCreated;
nativeWindow.Render += NativeWindow_Render;
nativeWindow.MouseMove += NativeWindow_MouseEvent;
nativeWindow.Resize += NativeWindow_Resize;
nativeWindow.KeyDown += (object obj, NativeWindowKeyEventArgs e) =>
{
switch (e.Key)
{
case KeyCode.Escape:
close();
nativeWindow.Stop();
break;
case KeyCode.F:
nativeWindow.Fullscreen = !nativeWindow.Fullscreen;
break;
}
viewer.keyEventFunction(e);
};
//nativeWindow.MultisampleBits = 4;
int wnd_h = Screen.PrimaryScreen.Bounds.Height;
int wnd_w = Screen.PrimaryScreen.Bounds.Width;
int height = (int)(wnd_h * 0.9f);
int width = (int)(wnd_w * 0.9f);
if (width > zedCamera.ImageWidth && height > zedCamera.ImageHeight)
{
width = zedCamera.ImageWidth;
height = zedCamera.ImageHeight;
}
nativeWindow.Create((int)(zedCamera.ImageWidth * 0.05f), (int)(zedCamera.ImageHeight * 0.05f), 1200, 700, NativeWindowStyle.Resizeable);
nativeWindow.Show();
nativeWindow.Run();
}
}
// Create Window
public void CreateWindow()
{
using (OpenGL.CoreUI.NativeWindow nativeWindow = OpenGL.CoreUI.NativeWindow.Create())
{
nativeWindow.ContextCreated += NativeWindow_ContextCreated;
nativeWindow.Render += NativeWindow_Render;
nativeWindow.MouseDown += NativeWindow_MouseDown;
nativeWindow.KeyDown += (object obj, NativeWindowKeyEventArgs e) =>
{
switch (e.Key)
{
case KeyCode.Escape:
close();
nativeWindow.Stop();
break;
case KeyCode.F:
nativeWindow.Fullscreen = !nativeWindow.Fullscreen;
break;
case KeyCode.Space:
userAction.pressSpace = true;
break;
}
};
int wnd_h = Screen.PrimaryScreen.Bounds.Height;
int wnd_w = Screen.PrimaryScreen.Bounds.Width;
int height = (int)(wnd_h * 0.9f);
int width = (int)(wnd_w * 0.9f);
if (width > zedCamera.ImageWidth && height > zedCamera.ImageHeight)
{
width = zedCamera.ImageWidth;
height = zedCamera.ImageHeight;
}
nativeWindow.Create((int)(zedCamera.ImageWidth * 0.05f), (int)(zedCamera.ImageHeight * 0.05f), (uint)width, (uint)height, NativeWindowStyle.Resizeable);
nativeWindow.Show();
nativeWindow.Run();
}
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
trackingState = zedCamera.GetPosition(ref cam_pose, REFERENCE_FRAME.WORLD);
if (trackingState == POSITIONAL_TRACKING_STATE.OK && timer % 30 == 0)
{
Console.WriteLine("Translation : " + cam_pose.translation + ", Rotation : " + cam_pose.rotation);
}
//Update GL View
viewer.updateData(cam_pose);
viewer.render();
timer++;
}
}
private void NativeWindow_Resize(object sender, EventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
viewer.resizeCallback((int)nativeWindow.Width, (int)nativeWindow.Height);
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (zedMat.IsInit())
{
// Retrieve left image
err = zedCamera.RetrieveImage(zedMat, sl.VIEW.LEFT, sl.MEM.CPU);
// Update pose data (used for projection of the mesh over the current image)
tracking_state = zedCamera.GetPosition(ref cam_pose);
if (mapping_activated)
{
mapping_state = zedCamera.GetSpatialMappingState();
if (timer % 60 == 0 && viewer.chunksUpdated() == true)
{
zedCamera.RequestSpatialMap();
}
if (zedCamera.GetMeshRequestStatus() == ERROR_CODE.SUCCESS && timer > 0)
{
/// MAP_TYPE == MESH
if (CREATE_MESH)
{
//Retrieves data for mesh visualization only (vertices + triangles);
zedCamera.RetrieveChunks(ref mesh);
var chunks = new List <Chunk>(mesh.chunks.Values);
viewer.updateData(chunks);
}
/// MAP_TYPE == FUSED_POINT_CLOUD
else
{
zedCamera.RetrieveSpatialMap(ref fusedPointCloud);
viewer.updateData(fusedPointCloud.vertices);
}
}
}
bool change_state = viewer.updateImageAndState(zedMat, cam_pose, tracking_state, mapping_state);
if (change_state)
{
if (!mapping_activated)
{
Quaternion quat = Quaternion.Identity; Vector3 vec = Vector3.Zero;
zedCamera.ResetPositionalTracking(quat, vec);
zedCamera.EnableSpatialMapping(ref spatialMappingParameters);
Console.WriteLine("Hit SPACE BAR to stop spatial mapping...");
// Clear previous Mesh data
viewer.clearCurrentMesh();
mapping_activated = true;
}
else
{
// Filter the mesh (remove unnecessary vertices and faces)
if (CREATE_MESH)
{
zedCamera.ExtractWholeSpatialMap();
zedCamera.FilterMesh(MESH_FILTER.MEDIUM, ref mesh);
}
if (CREATE_MESH && spatialMappingParameters.saveTexture)
{
zedCamera.ApplyTexture(ref mesh);
}
bool error_save = false;
string saveName = "";
//Save mesh as obj file
if (CREATE_MESH)
{
saveName = "mesh_gen.obj";
error_save = zedCamera.SaveMesh(saveName, MESH_FILE_FORMAT.OBJ);
}
else
{
saveName = "point_cloud.ply";
error_save = zedCamera.SavePointCloud(saveName, MESH_FILE_FORMAT.PLY);
}
if (error_save)
{
Console.WriteLine("Mesh saved under: " + saveName);
}
else
{
Console.WriteLine("Failed to save the mesh under: " + saveName);
}
mapping_state = SPATIAL_MAPPING_STATE.NOT_ENABLED;
mapping_activated = false;
zedCamera.DisableSpatialMapping();
Console.WriteLine("Hit SPACE BAR to start spatial mapping...");
}
}
timer++;
viewer.render();
}
}
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
foreach (var it in obj_runtime_parameters.objectClassFilter)
{
obj_runtime_parameters.objectConfidenceThreshold[it] = detection_confidence;
}
// Retrieve Objects
err = zedCamera.RetrieveObjects(ref objects, ref obj_runtime_parameters);
if (err == ERROR_CODE.SUCCESS && objects.isNew != 0)
{
// Retrieve left image
zedCamera.RetrieveMeasure(pointCloud, MEASURE.XYZRGBA, MEM.CPU, pcRes);
zedCamera.GetPosition(ref camWorldPose, REFERENCE_FRAME.WORLD);
zedCamera.GetPosition(ref camCameraPose, REFERENCE_FRAME.CAMERA);
zedCamera.RetrieveImage(imageLeft, VIEW.LEFT, MEM.CPU, displayRes);
bool update_render_view = true;
bool update_3d_view = true;
bool update_tracking_view = true;
int nbBatches = 0;
if (USE_BATCHING)
{
List <ObjectsBatch> objectsBatch = new List <ObjectsBatch>();
zedCamera.UpdateObjectsBatch(out nbBatches);
for (int i = 0; i < nbBatches; i++)
{
ObjectsBatch obj_batch = new ObjectsBatch();
zedCamera.GetObjectsBatch(i, ref obj_batch);
objectsBatch.Add(obj_batch);
}
batchHandler.push(camCameraPose, camWorldPose, imageLeft, pointCloud, ref objectsBatch);
batchHandler.pop(ref camCameraPose, ref camWorldPose, ref imageLeft, ref pointCloud, ref objects);
update_render_view = BatchSystemHandler.WITH_IMAGE_RETENTION ? Convert.ToBoolean(objects.isNew) : true;
update_3d_view = BatchSystemHandler.WITH_IMAGE_RETENTION ? Convert.ToBoolean(objects.isNew) : true;
}
if (update_render_view)
{
imageRenderLeft.CopyTo(imageLeftOcv);
TrackingViewer.render_2D(ref imageLeftOcv, imgScale, ref objects, true, isTrackingON);
}
if (update_3d_view)
{
//Update GL View
viewer.update(pointCloud, objects, camWorldPose);
viewer.render();
}
if (update_tracking_view)
{
trackViewGenerator.generate_view(ref objects, camCameraPose, ref imageTrackOcv, Convert.ToBoolean(objects.isTracked));
}
}
if (isPlayback && zedCamera.GetSVOPosition() == zedCamera.GetSVONumberOfFrames())
{
return;
}
Cv2.ImShow(window_name, globalImage);
}
}
