// 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(); } } }