// 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);
}
}
}
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();
}
// 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);
}
}
