Пример #1
0
    static void Main(string[] args)
    {
        Camera zed = new Camera(0);

        InitParameters initParameters = new InitParameters()
        {
            sdkVerbose = true,
            resolution = RESOLUTION.HD720,
            depthMode  = DEPTH_MODE.NONE
        };

        parseArgs(args, ref initParameters);

        ERROR_CODE returnedState = zed.Open(ref initParameters);

        if (returnedState != ERROR_CODE.SUCCESS)
        {
            Environment.Exit(-1);
        }

        string winName = "Camera control";

        Cv2.NamedWindow(winName);

        Console.WriteLine("ZED Model             : " + zed.GetCameraModel());
        Console.WriteLine("ZED Serial Number     : " + zed.GetZEDSerialNumber());
        Console.WriteLine("ZED Camera Firmware   : " + zed.GetCameraFirmwareVersion());
        Console.WriteLine("ZED Camera Resolution : " + zed.GetInitParameters().resolution);
        Console.WriteLine("ZED Camera FPS        : " + zed.GetInitParameters().cameraFPS);

        // Print help control
        printHelp();

        sl.Mat zedImage = new sl.Mat();
        zedImage.Create(new Resolution((uint)zed.ImageWidth, (uint)zed.ImageHeight), MAT_TYPE.MAT_8U_C4);

        // Initialise camera setting
        switchCameraSettings();

        char key = ' ';

        RuntimeParameters rtParams = new RuntimeParameters();

        while (key != 'q')
        {
            // Check that a new image is successfully acquired
            returnedState = zed.Grab(ref rtParams);
            if (returnedState == ERROR_CODE.SUCCESS)
            {
                //Retrieve left image
                zed.RetrieveImage(zedImage, VIEW.LEFT);

                // Convert to cvMat
                OpenCvSharp.Mat cvImage = new OpenCvSharp.Mat(zedImage.GetHeight(), zedImage.GetWidth(), OpenCvSharp.MatType.CV_8UC4, zedImage.GetPtr());

                Cv2.ImShow(winName, cvImage);
            }
            else
            {
                Console.WriteLine("ERROR during capture");
                break;
            }

            key = (char)Cv2.WaitKey(10);
            // Change camera settings with keyboard
            updateCameraSettings(key, ref zed);
        }
    }
Пример #2
0
    /// <summary>
    ///  Creates an OpenCV version of a ZED Mat.
    /// </summary>
    /// <param name="zedmat">Source ZED Mat.</param>
    /// <param name="zedmattype">Type of ZED Mat - data type and channel number.
    /// <returns></returns>
    private static OpenCvSharp.Mat SLMat2CVMat(ref sl.Mat zedmat, MAT_TYPE zedmattype)
    {
        int cvmattype = SLMatType2CVMatType(zedmattype);

        OpenCvSharp.Mat cvmat = new OpenCvSharp.Mat(zedmat.GetHeight(), zedmat.GetWidth(), cvmattype, zedmat.GetPtr());

        return(cvmat);
    }
Пример #3
0
 public void pushNewImage(Mat zedImage)
 {
     // Update Texture with current zedImage
     Gl.TexSubImage2D(TextureTarget.Texture2d, 0, 0, 0, zedImage.GetWidth(), zedImage.GetHeight(), PixelFormat.Rgba, PixelType.UnsignedByte, zedImage.GetPtr());
 }
Пример #4
0
    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();
    }