public void update(Mat image, Objects objects)
{
image_handler.pushNewImage(image);
//if(objects.isNew == 0) return;
BBox_faces.clear();
BBox_edges.clear();
objectsName.Clear();
// For each object
for (int idx = 0; idx < objects.numObject; idx++)
{
sl.ObjectData obj = objects.objectData[idx];
// Only show tracked objects
if (renderObject(obj))
{
List <Vector3> bb_ = new List <Vector3>();
bb_.AddRange(obj.boundingBox);
if (bb_.Count > 0)
{
float4 clr_id = generateColorClass(obj.id);
float4 clr_class = generateColorClass((int)obj.label);
if (obj.objectTrackingState != sl.OBJECT_TRACKING_STATE.OK)
{
clr_id = clr_class;
}
else
{
createIDRendering(obj.position, clr_id, obj.id);
}
createBboxRendering(bb_, clr_id);
}
}
}
}
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 void update(Mat image, Objects objects)
{
image_handler.pushNewImage(image);
bones.clear();
joints.clear();
BBox_faces.clear();
BBox_edges.clear();
if (Keyboard.IsKeyDown(Key.B))
{
showbbox = !showbbox;
}
// For each object
for (int idx = 0; idx < objects.numObject; idx++)
{
sl.ObjectData obj = objects.objectData[idx];
// Only show tracked objects
if (renderObject(obj))
{
List <Vector3> bb_ = new List <Vector3>();
bb_.AddRange(obj.boundingBox);
float4 clr_id = generateColorClass(obj.id);
float4 clr_class = generateColorClass((int)obj.label);
Vector3[] keypoints = obj.keypoints;
if (showbbox)
{
if (obj.objectTrackingState != sl.OBJECT_TRACKING_STATE.OK)
{
clr_id = clr_class;
}
else
{
createIDRendering(obj.position, clr_id, obj.id);
}
createBboxRendering(bb_, clr_id);
}
if (keypoints.Length > 0)
{
foreach (var limb in BODY_BONES)
{
Vector3 kp_1 = keypoints[getIdx(limb.Item1)];
Vector3 kp_2 = keypoints[getIdx(limb.Item2)];
float norm_1 = kp_1.Length();
float norm_2 = kp_2.Length();
if (!float.IsNaN(norm_1) && norm_1 > 0 && !float.IsNaN(norm_2) && norm_2 > 0)
{
bones.addCylinder(new float3(kp_1.X, kp_1.Y, kp_1.Z), new float3(kp_2.X, kp_2.Y, kp_2.Z), clr_id);
}
}
for (int i = 0; i < (int)BODY_PARTS.LAST; i++)
{
Vector3 kp = keypoints[i];
float norm = kp.Length();
if (!float.IsNaN(norm) && norm > 0)
{
joints.addSphere(new float3(kp.X, kp.Y, kp.Z), clr_id);
}
}
}
}
}
}
