public ModelViewer(Model m, int idx, GLViewer glViewer, int gen)
{
this.InitializeComponent();
this.InitializeContexts();
_model = m;
_graph = m._GRAPH;
_mainView = glViewer;
_idx = idx;
_gen = gen;
}
private void Form1_Load(object sender, EventArgs e)
{
findResults = new List <KeyValuePair <Forge.FileEntry, EntryTreeNode> >();
// hide the progress bar
toolStripProgressBar.Visible = false;
// load the games' directories into the tree view
LoadGamesIntoTreeView();
// set up the zoom dropdown in the Image viewer
foreach (double z in zoomLevels)
{
ToolStripMenuItem item = new ToolStripMenuItem();
item.Text = $"{z * 100}%";
item.Click += new EventHandler(delegate(object s, EventArgs a)
{
ChangeZoom(z);
});
zoomDropDownButton.DropDownItems.Add(item);
}
// create a GLControl and a GLViewer
GLControl glControl = new GLControl(new GraphicsMode(32, 24, 0, 4), 3, 0, GraphicsContextFlags.ForwardCompatible);
glControl.Dock = DockStyle.Fill;
tabPage1.Controls.Add(glControl);
gl = new GLViewer(glControl);
gl.BackgroundColor = Properties.Settings.Default.threeBG;
gl.Init();
// load the Utah teapot
OBJMesh teapot = OBJMesh.LoadFromFile(Application.ExecutablePath + "\\..\\Shaders\\teapot.obj");
gl.Meshes.Add(teapot);
Console.WriteLine(teapot.GetVertices().Length);
// create a timer to constantly render the 3D Viewer
Timer t = new Timer();
t.Interval = (int)(1 / 70f * 1000); // 60 FPS
t.Tick += new EventHandler(delegate(object s, EventArgs a) {
gl.Render();
});
t.Start();
glControl.Focus();
// load settings
LoadSettings();
}
public MainWindow(string[] args)
{
// Set configuration parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD1080;
init_params.depthMode = DEPTH_MODE.ULTRA;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
init_params.depthMaximumDistance = 10f;
init_params.cameraDisableSelfCalib = true;
maxDepthDistance = init_params.depthMaximumDistance;
parseArgs(args, ref init_params);
// Open the camera
zedCamera = new Camera(0);
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
if (zedCamera.CameraModel != sl.MODEL.ZED2)
{
Console.WriteLine(" ERROR : Use ZED2 Camera only");
return;
}
// Enable tracking (mandatory for object detection)
Quaternion quat = Quaternion.Identity;
Vector3 vec = Vector3.Zero;
zedCamera.EnablePositionalTracking(ref quat, ref vec);
runtimeParameters = new RuntimeParameters();
// Enable the Objects detection module
ObjectDetectionParameters obj_det_params = new ObjectDetectionParameters();
obj_det_params.enableObjectTracking = true; // the object detection will track objects across multiple images, instead of an image-by-image basis
isTrackingON = obj_det_params.enableObjectTracking;
obj_det_params.enable2DMask = false;
obj_det_params.imageSync = true; // the object detection is synchronized to the image
obj_det_params.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE;
if (USE_BATCHING)
{
batchParameters = new BatchParameters();
batchParameters.latency = 2.0f;
batchParameters.enable = true;
batchHandler = new BatchSystemHandler((int)batchParameters.latency * 2);
obj_det_params.batchParameters = batchParameters;
}
zedCamera.EnableObjectDetection(ref obj_det_params);
// Configure object detection runtime parameters
obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
detection_confidence = 60;
obj_runtime_parameters.detectionConfidenceThreshold = detection_confidence;
obj_runtime_parameters.objectClassFilter = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.PERSON] = Convert.ToInt32(true);
//obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.VEHICLE] = Convert.ToInt32(true);
// To set a specific threshold
obj_runtime_parameters.objectConfidenceThreshold = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectConfidenceThreshold[(int)sl.OBJECT_CLASS.PERSON] = detection_confidence;
//obj_runtime_parameters.object_confidence_threshold[(int)sl.OBJECT_CLASS.VEHICLE] = detection_confidence;
// Create ZED Objects filled in the main loop
objects = new Objects();
imageLeft = new sl.Mat();
int Height = zedCamera.ImageHeight;
int Width = zedCamera.ImageWidth;
displayRes = new Resolution(Math.Min((uint)Width, 1280), Math.Min((uint)Height, 720));
Resolution tracksRes = new Resolution(400, (uint)displayRes.height);
// create a global image to store both image and tracks view
globalImage = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width + (int)tracksRes.width, OpenCvSharp.MatType.CV_8UC4);
// retrieve ref on image part
imageLeftOcv = new OpenCvSharp.Mat(globalImage, new OpenCvSharp.Rect(0, 0, (int)displayRes.width, (int)displayRes.height));
// retrieve ref on tracks part
imageTrackOcv = new OpenCvSharp.Mat(globalImage, new OpenCvSharp.Rect((int)displayRes.width, 0, (int)tracksRes.width, (int)tracksRes.height));
// init an sl::Mat from the ocv image ref (which is in fact the memory of global_image)
imageLeft.Create(displayRes, MAT_TYPE.MAT_8U_C4, MEM.CPU);
imageRenderLeft = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width, OpenCvSharp.MatType.CV_8UC4, imageLeft.GetPtr());
imgScale = new sl.float2((int)displayRes.width / (float)Width, (int)displayRes.height / (float)Height);
// Create OpenGL Viewer
viewer = new GLViewer();
camWorldPose = new Pose();
camCameraPose = new Pose();
pointCloud = new sl.Mat();
pcRes = new Resolution(Math.Min((uint)Width, 720), Math.Min((uint)Height, 404));
pointCloud.Create(pcRes, MAT_TYPE.MAT_32F_C4, MEM.CPU);
// 2D tracks
trackViewGenerator = new TrackingViewer(tracksRes, (int)zedCamera.GetCameraFPS(), maxDepthDistance, 3);
trackViewGenerator.setCameraCalibration(zedCamera.GetCalibrationParameters());
window_name = "ZED| 2D View and Birds view";
Cv2.NamedWindow(window_name, WindowMode.Normal);// Create Window
Cv2.CreateTrackbar("Confidence", window_name, ref detection_confidence, 100);
// Create OpenGL window
CreateWindow();
}
