public MainWindow(string[] args) { // Set configuration parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD720; init_params.cameraFPS = 60; init_params.depthMode = DEPTH_MODE.ULTRA; init_params.coordinateUnits = UNIT.METER; init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP; init_params.depthMaximumDistance = 15f; 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 obj_det_params.enable2DMask = false; obj_det_params.enableBodyFitting = true; // smooth skeletons moves obj_det_params.imageSync = true; // the object detection is synchronized to the image obj_det_params.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE; zedCamera.EnableObjectDetection(ref obj_det_params); // Create ZED Objects filled in the main loop object_frame = new Objects(); zedMat = new Mat(); int Height = zedCamera.ImageHeight; int Width = zedCamera.ImageWidth; Resolution res = new Resolution((uint)Width, (uint)Height); zedMat.Create(res, MAT_TYPE.MAT_8U_C4, MEM.CPU); // Create OpenGL Viewer viewer = new GLViewer(new Resolution((uint)Width, (uint)Height)); // Configure object detection runtime parameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 35; obj_runtime_parameters.objectClassFilter = new int[(int)OBJECT_CLASS.LAST]; obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.PERSON] = 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] = 35; // Create OpenGL window CreateWindow(); }
static void Main(string[] args) { // Set Initialization parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD720; init_params.coordinateUnits = UNIT.METER; init_params.sdkVerbose = true; Camera zedCamera = new Camera(0); // Open the camera ERROR_CODE err = zedCamera.Open(ref init_params); if (err != ERROR_CODE.SUCCESS) Environment.Exit(-1); // Enable positional tracking PositionalTrackingParameters trackingParams = new PositionalTrackingParameters(); // If you want to have object tracking you need to enable positional tracking first err = zedCamera.EnablePositionalTracking(ref trackingParams); if (err != ERROR_CODE.SUCCESS) Environment.Exit(-1); // Enable Object Detection object_detection_parameters = new ObjectDetectionParameters(); // Different model can be chosen, optimizing the runtime or the accuracy object_detection_parameters.detectionModel = sl.DETECTION_MODEL.HUMAN_BODY_FAST; // track detects object across time and space object_detection_parameters.enableObjectTracking = true; // run detection for every Camera grab object_detection_parameters.imageSync = true; err = zedCamera.EnableObjectDetection(ref object_detection_parameters); if (err != ERROR_CODE.SUCCESS) Environment.Exit(-1); // Create Runtime parameters RuntimeParameters runtimeParameters = new RuntimeParameters(); // Create Object Detection frame handle (contains all the objects data) sl.Objects objects = new sl.Objects(); // Create object detection runtime parameters (confidence, ...) ObjectDetectionRuntimeParameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 40; int nbDetection = 0; while (nbDetection < 100) { if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS) { // Retrieve Objects from Object detection zedCamera.RetrieveObjects(ref objects, ref obj_runtime_parameters); if (Convert.ToBoolean(objects.isNew)) { Console.WriteLine(objects.numObject + " Person(s) detected"); Console.WriteLine(); if (objects.numObject > 0) { sl.ObjectData firstObject = objects.objectData[0]; Console.WriteLine("First Person attributes :"); Console.WriteLine(" Confidence (" + firstObject.confidence); if (object_detection_parameters.enableObjectTracking) { Console.WriteLine(" Tracking ID: " + firstObject.id + " tracking state: " + firstObject.objectTrackingState + " / " + firstObject.actionState); } Console.WriteLine(" 3D Position: " + firstObject.position + " Velocity: " + firstObject.velocity); Console.WriteLine(" Keypoints 2D"); // The body part meaning can be obtained by casting the index into a BODY_PARTS // to get the BODY_PARTS index the getIdx function is available for (int i = 0; i < firstObject.keypoints2D.Length; i++) { var kp = firstObject.keypoints2D[i]; Console.WriteLine(" " + (sl.BODY_PARTS)i + " " + kp.X + ", " + kp.Y); } // The BODY_PARTS can be link as bones, using sl::BODY_BONES which gives the BODY_PARTS pair for each Console.WriteLine(" Keypoints 3D "); for (int i = 0; i < firstObject.keypoints.Length; i++) { var kp = firstObject.keypoints[i]; Console.WriteLine(" " + (sl.BODY_PARTS)i + " " + kp.X + ", " + kp.Y + ", " + kp.Z); } Console.WriteLine(); Console.WriteLine("Press 'Enter' to continue..."); Console.ReadLine(); } } } } // Disable object detection, positional tracking and close the camera zedCamera.DisableObjectDetection(); zedCamera.DisablePositionalTracking(""); zedCamera.Close(); }
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(); }
public MainWindow(string[] args) { // Set configuration parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD1080; init_params.cameraFPS = 30; init_params.depthMode = DEPTH_MODE.ULTRA; init_params.coordinateUnits = UNIT.METER; init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP; 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 || zedCamera.CameraModel == sl.MODEL.ZED2i)) { Console.WriteLine(" ERROR : Use ZED2/ZED2i Camera only"); return; } // Enable tracking (mandatory for object detection) PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters(); zedCamera.EnablePositionalTracking(ref positionalTrackingParameters); 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.enableBodyFitting = true; // smooth skeletons moves obj_det_params.imageSync = true; // the object detection is synchronized to the image obj_det_params.detectionModel = sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE; zedCamera.EnableObjectDetection(ref obj_det_params); // Create ZED Objects filled in the main loop camPose = new sl.Pose(); objects = new Objects(); int Height = zedCamera.ImageHeight; int Width = zedCamera.ImageWidth; imageLeft = new Mat(); displayRes = new Resolution(Math.Min((uint)Width, 1280), Math.Min((uint)Height, 720)); imgScale = new sl.float2((int)displayRes.width / (float)Width, (int)displayRes.height / (float)Height); imageLeft.Create(displayRes, MAT_TYPE.MAT_8U_C4, MEM.CPU); imageLeftOcv = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width, OpenCvSharp.MatType.CV_8UC4, imageLeft.GetPtr()); 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); // Create OpenGL Viewer viewer = new GLViewer(new Resolution((uint)Width, (uint)Height)); // Configure object detection runtime parameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 40; window_name = "ZED| 2D View"; Cv2.NamedWindow(window_name, WindowMode.Normal);// Create Window // Create OpenGL window CreateWindow(); }
static void Main(string[] args) { // Set Initialization parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD2K; init_params.coordinateUnits = UNIT.METER; init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP; init_params.depthMode = DEPTH_MODE.PERFORMANCE; Camera zedCamera = new Camera(0); // Open the camera ERROR_CODE err = zedCamera.Open(ref init_params); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } // Enable positional tracking PositionalTrackingParameters trackingParams = new PositionalTrackingParameters(); err = zedCamera.EnablePositionalTracking(ref trackingParams); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } // Enable Object Detection ObjectDetectionParameters object_detection_parameters = new ObjectDetectionParameters(); object_detection_parameters.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX; object_detection_parameters.enableObjectTracking = true; err = zedCamera.EnableObjectDetection(ref object_detection_parameters); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } // Create Runtime parameters RuntimeParameters runtimeParameters = new RuntimeParameters(); // Create Object Detection frame handle (contains all the objects data) sl.Objects object_frame = new sl.Objects(); // Create object detection runtime parameters (confidence, ...) ObjectDetectionRuntimeParameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 50; int i = 0; while (i < 1000) { if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS) { // Retrieve Objects from Object detection err = zedCamera.RetrieveObjects(ref object_frame, ref obj_runtime_parameters); // Display the data each 10 frames if (i % 10 == 0) { Console.WriteLine("Nb Objects Detection : " + object_frame.numObject); for (int p = 0; p < object_frame.numObject; p++) { Console.WriteLine("Position of object " + p + " : " + object_frame.objectData[p].position + "Tracked? : " + object_frame.objectData[p].objectTrackingState); } } i++; } } // Disable object detection, positional tracking and close the camera zedCamera.DisableObjectDetection(); zedCamera.DisablePositionalTracking(""); zedCamera.Close(); }