From 87f299701ec4855a3475510d0a1ab336cac16fa8 Mon Sep 17 00:00:00 2001 From: Pierre Yver Date: Fri, 4 Nov 2022 11:49:39 +0100 Subject: [PATCH] Update for ZED SDK 3.8 (#515) --- CMakeLists.txt | 7 +- body tracking/cpp/include/GLViewer.hpp | 55 - body tracking/cpp/src/GLViewer.cpp | 2 +- body tracking/cpp/src/TrackingViewer.cpp | 2 +- camera roi/auto exposure/README.md | 7 + camera roi/auto exposure/cpp/CMakeLists.txt | 39 + camera roi/auto exposure/cpp/README.md | 26 + camera roi/auto exposure/cpp/src/main.cpp | 223 + camera roi/auto exposure/csharp/App.config | 6 + .../auto exposure/csharp/CMakeLists.txt | 34 + camera roi/auto exposure/csharp/Program.cs | 295 + .../csharp/Properties/AssemblyInfo.cs | 36 + camera roi/auto exposure/csharp/README.md | 25 + .../auto exposure/csharp/packages.config | 4 + camera roi/auto exposure/python/README.md | 20 + .../auto exposure/python/roi_exposure.py | 174 + camera roi/sensing roi/README.md | 9 + camera roi/sensing roi/cpp/CMakeLists.txt | 39 + camera roi/sensing roi/cpp/src/main.cpp | 373 + camera streaming/receiver/cpp/src/main.cpp | 1 - depth sensing/cpp/CMakeLists.txt | 2 +- depth sensing/cpp/include/GLViewer.hpp | 5 +- depth sensing/cpp/src/GLViewer.cpp | 11 +- depth sensing/cpp/src/main.cpp | 9 +- other/cuda refocus/CMakeLists.txt | 2 +- other/fbx export/CMakeLists.txt | 57 + other/fbx export/README.md | 44 + other/fbx export/include/utils.hpp | 165 + other/fbx export/src/mainCamera.cpp | 266 + other/fbx export/src/mainSkeletons.cpp | 312 + other/opengl gpu interop/CMakeLists.txt | 2 +- .../floor plane/cpp/CMakeLists.txt | 54 + .../floor plane/cpp/include/GLViewer.hpp | 309 + .../floor plane/cpp/src/GLViewer.cpp | 986 + plane detection/floor plane/cpp/src/main.cpp | 154 + plane detection/overview/README.md | 10 + plane detection/overview/cpp/CMakeLists.txt | 54 + plane detection/overview/cpp/README.md | 25 + .../overview/cpp/include/GLViewer.hpp | 144 + plane detection/overview/cpp/src/GLViewer.cpp | 595 + plane detection/overview/cpp/src/main.cpp | 167 + plane detection/overview/csharp/App.config | 6 + .../overview/csharp/CMakeLists.txt | 45 + plane detection/overview/csharp/GLViewer.cs | 567 + plane detection/overview/csharp/MainWindow.cs | 284 + plane detection/overview/csharp/Program.cs | 15 + .../csharp/Properties/AssemblyInfo.cs | 36 + .../csharp/Properties/Resources.Designer.cs | 63 + .../overview/csharp/Properties/Resources.resx | 117 + .../csharp/Properties/Settings.Designer.cs | 26 + .../csharp/Properties/Settings.settings | 7 + plane detection/overview/csharp/README.md | 24 + .../overview/csharp/packages.config | 4 + plane detection/overview/plane_detection.jpg | Bin 0 -> 300145 bytes plane detection/overview/python/README.md | 19 + .../overview/python/ogl_viewer/viewer.py | 513 + .../overview/python/plane_detection.py | 120 + positional tracking/cpp/CMakeLists.txt | 2 +- positional tracking/cpp/src/main.cpp | 3 +- .../cpp/CMakeLists.txt | 2 +- spatial mapping/overview/README.md | 11 + spatial mapping/overview/cpp/CMakeLists.txt | 54 + spatial mapping/overview/cpp/README.md | 26 + .../overview/cpp/include/GLViewer.hpp | 153 + spatial mapping/overview/cpp/src/GLViewer.cpp | 626 + spatial mapping/overview/cpp/src/main.cpp | 221 + spatial mapping/overview/csharp/App.config | 6 + .../overview/csharp/CMakeLists.txt | 44 + spatial mapping/overview/csharp/GLViewer.cs | 1085 + spatial mapping/overview/csharp/MainWindow.cs | 354 + spatial mapping/overview/csharp/Program.cs | 15 + .../csharp/Properties/AssemblyInfo.cs | 36 + .../csharp/Properties/Resources.Designer.cs | 63 + .../overview/csharp/Properties/Resources.resx | 117 + .../csharp/Properties/Settings.Designer.cs | 26 + .../csharp/Properties/Settings.settings | 7 + spatial mapping/overview/csharp/README.md | 25 + .../overview/csharp/packages.config | 4 + spatial mapping/overview/python/README.md | 20 + spatial mapping/overview/python/mesh_gen.obj | 99537 ++++++++++++++++ .../__pycache__/viewer.cpython-39.pyc | Bin 0 -> 14330 bytes .../overview/python/ogl_viewer/viewer.py | 509 + .../overview/python/spatial_mapping.py | 172 + spatial mapping/overview/spatial_mapping.jpg | Bin 0 -> 639062 bytes .../tutorial 1 - hello ZED/c/CMakeLists.txt | 6 +- tutorials/tutorial 1 - hello ZED/c/main.c | 2 +- .../c/CMakeLists.txt | 6 +- tutorials/tutorial 2 - image capture/c/main.c | 3 +- .../c/CMakeLists.txt | 6 +- tutorials/tutorial 3 - depth sensing/c/main.c | 3 +- .../c/CMakeLists.txt | 7 +- .../tutorial 4 - positional tracking/c/main.c | 4 +- .../c/CMakeLists.txt | 7 +- .../tutorial 5 - spatial mapping/c/main.c | 4 +- .../c/CMakeLists.txt | 7 +- .../tutorial 6 - object detection/c/main.c | 4 +- .../tutorial 7 - sensor data/c/CMakeLists.txt | 7 +- tutorials/tutorial 7 - sensor data/c/main.c | 2 +- .../c/CMakeLists.txt | 7 +- tutorials/tutorial 8 - body tracking/c/main.c | 4 +- .../tutorial 8 - body tracking/cpp/main.cpp | 65 +- 101 files changed, 109701 insertions(+), 157 deletions(-) create mode 100644 camera roi/auto exposure/README.md create mode 100644 camera roi/auto exposure/cpp/CMakeLists.txt create mode 100644 camera roi/auto exposure/cpp/README.md create mode 100644 camera roi/auto exposure/cpp/src/main.cpp create mode 100644 camera roi/auto exposure/csharp/App.config create mode 100644 camera roi/auto exposure/csharp/CMakeLists.txt create mode 100644 camera roi/auto exposure/csharp/Program.cs create mode 100644 camera roi/auto exposure/csharp/Properties/AssemblyInfo.cs create mode 100644 camera roi/auto exposure/csharp/README.md create mode 100644 camera roi/auto exposure/csharp/packages.config create mode 100644 camera roi/auto exposure/python/README.md create mode 100644 camera roi/auto exposure/python/roi_exposure.py create mode 100644 camera roi/sensing roi/README.md create mode 100644 camera roi/sensing roi/cpp/CMakeLists.txt create mode 100644 camera roi/sensing roi/cpp/src/main.cpp create mode 100644 other/fbx export/CMakeLists.txt create mode 100644 other/fbx export/README.md create mode 100644 other/fbx export/include/utils.hpp create mode 100644 other/fbx export/src/mainCamera.cpp create mode 100644 other/fbx export/src/mainSkeletons.cpp create mode 100644 plane detection/floor plane/cpp/CMakeLists.txt create mode 100644 plane detection/floor plane/cpp/include/GLViewer.hpp create mode 100644 plane detection/floor plane/cpp/src/GLViewer.cpp create mode 100644 plane detection/floor plane/cpp/src/main.cpp create mode 100644 plane detection/overview/README.md create mode 100644 plane detection/overview/cpp/CMakeLists.txt create mode 100644 plane detection/overview/cpp/README.md create mode 100644 plane detection/overview/cpp/include/GLViewer.hpp create mode 100644 plane detection/overview/cpp/src/GLViewer.cpp create mode 100644 plane detection/overview/cpp/src/main.cpp create mode 100644 plane detection/overview/csharp/App.config create mode 100644 plane detection/overview/csharp/CMakeLists.txt create mode 100644 plane detection/overview/csharp/GLViewer.cs create mode 100644 plane detection/overview/csharp/MainWindow.cs create mode 100644 plane detection/overview/csharp/Program.cs create mode 100644 plane detection/overview/csharp/Properties/AssemblyInfo.cs create mode 100644 plane detection/overview/csharp/Properties/Resources.Designer.cs create mode 100644 plane detection/overview/csharp/Properties/Resources.resx create mode 100644 plane detection/overview/csharp/Properties/Settings.Designer.cs create mode 100644 plane detection/overview/csharp/Properties/Settings.settings create mode 100644 plane detection/overview/csharp/README.md create mode 100644 plane detection/overview/csharp/packages.config create mode 100644 plane detection/overview/plane_detection.jpg create mode 100644 plane detection/overview/python/README.md create mode 100644 plane detection/overview/python/ogl_viewer/viewer.py create mode 100644 plane detection/overview/python/plane_detection.py create mode 100644 spatial mapping/overview/README.md create mode 100644 spatial mapping/overview/cpp/CMakeLists.txt create mode 100644 spatial mapping/overview/cpp/README.md create mode 100644 spatial mapping/overview/cpp/include/GLViewer.hpp create mode 100644 spatial mapping/overview/cpp/src/GLViewer.cpp create mode 100644 spatial mapping/overview/cpp/src/main.cpp create mode 100644 spatial mapping/overview/csharp/App.config create mode 100644 spatial mapping/overview/csharp/CMakeLists.txt create mode 100644 spatial mapping/overview/csharp/GLViewer.cs create mode 100644 spatial mapping/overview/csharp/MainWindow.cs create mode 100644 spatial mapping/overview/csharp/Program.cs create mode 100644 spatial mapping/overview/csharp/Properties/AssemblyInfo.cs create mode 100644 spatial mapping/overview/csharp/Properties/Resources.Designer.cs create mode 100644 spatial mapping/overview/csharp/Properties/Resources.resx create mode 100644 spatial mapping/overview/csharp/Properties/Settings.Designer.cs create mode 100644 spatial mapping/overview/csharp/Properties/Settings.settings create mode 100644 spatial mapping/overview/csharp/README.md create mode 100644 spatial mapping/overview/csharp/packages.config create mode 100644 spatial mapping/overview/python/README.md create mode 100644 spatial mapping/overview/python/mesh_gen.obj create mode 100644 spatial mapping/overview/python/ogl_viewer/__pycache__/viewer.cpython-39.pyc create mode 100644 spatial mapping/overview/python/ogl_viewer/viewer.py create mode 100644 spatial mapping/overview/python/spatial_mapping.py create mode 100644 spatial mapping/overview/spatial_mapping.jpg diff --git a/CMakeLists.txt b/CMakeLists.txt index 5c9e0e61..878d474c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -17,10 +17,11 @@ add_subdirectory("camera control/${TYPE}") add_subdirectory("depth sensing/${TYPE}") add_subdirectory("object detection/image viewer/${TYPE}") add_subdirectory("object detection/birds eye viewer/${TYPE}") +add_subdirectory("camera roi/auto exposure/${TYPE}") add_subdirectory("body tracking/${TYPE}") -add_subdirectory("plane detection/${TYPE}") +add_subdirectory("plane detection/overview/${TYPE}") add_subdirectory("positional tracking/${TYPE}") -add_subdirectory("spatial mapping/basic/${TYPE}") +add_subdirectory("spatial mapping/overview/${TYPE}") add_subdirectory("svo recording/export/${TYPE}") add_subdirectory("svo recording/playback/${TYPE}") add_subdirectory("svo recording/recording/${TYPE}") @@ -28,6 +29,8 @@ if(${BUILD_CPP}) add_subdirectory("camera streaming/receiver/cpp") add_subdirectory("camera streaming/sender/cpp") add_subdirectory("spatial mapping/advanced point cloud mapping/cpp") + add_subdirectory("plane detection/floor plane/${TYPE}") + add_subdirectory("camera roi/sensing roi/${TYPE}") add_subdirectory("other/cuda refocus") add_subdirectory("other/opengl gpu interop") add_subdirectory("other/multi camera/cpp") diff --git a/body tracking/cpp/include/GLViewer.hpp b/body tracking/cpp/include/GLViewer.hpp index 1d97144b..2f17122a 100644 --- a/body tracking/cpp/include/GLViewer.hpp +++ b/body tracking/cpp/include/GLViewer.hpp @@ -26,61 +26,6 @@ using namespace sl; -const std::vector> SKELETON_BONES -{ - { - BODY_PARTS::NOSE, BODY_PARTS::NECK - }, - { - BODY_PARTS::NECK, BODY_PARTS::RIGHT_SHOULDER - }, - { - BODY_PARTS::RIGHT_SHOULDER, BODY_PARTS::RIGHT_ELBOW - }, - { - BODY_PARTS::RIGHT_ELBOW, BODY_PARTS::RIGHT_WRIST - }, - { - BODY_PARTS::NECK, BODY_PARTS::LEFT_SHOULDER - }, - { - BODY_PARTS::LEFT_SHOULDER, BODY_PARTS::LEFT_ELBOW - }, - { - BODY_PARTS::LEFT_ELBOW, BODY_PARTS::LEFT_WRIST - }, - { - BODY_PARTS::RIGHT_HIP, BODY_PARTS::RIGHT_KNEE - }, - { - BODY_PARTS::RIGHT_KNEE, BODY_PARTS::RIGHT_ANKLE - }, - { - BODY_PARTS::LEFT_HIP, BODY_PARTS::LEFT_KNEE - }, - { - BODY_PARTS::LEFT_KNEE, BODY_PARTS::LEFT_ANKLE - }, - { - BODY_PARTS::RIGHT_SHOULDER, BODY_PARTS::LEFT_SHOULDER - }, - { - BODY_PARTS::RIGHT_HIP, BODY_PARTS::LEFT_HIP - }, - { - BODY_PARTS::NOSE, BODY_PARTS::RIGHT_EYE - }, - { - BODY_PARTS::RIGHT_EYE, BODY_PARTS::RIGHT_EAR - }, - { - BODY_PARTS::NOSE, BODY_PARTS::LEFT_EYE - }, - { - BODY_PARTS::LEFT_EYE, BODY_PARTS::LEFT_EAR - } -}; - /////////////////////////////////////////////////////////////////////////////////////////////// class Shader { diff --git a/body tracking/cpp/src/GLViewer.cpp b/body tracking/cpp/src/GLViewer.cpp index bb2b8a01..85d28465 100644 --- a/body tracking/cpp/src/GLViewer.cpp +++ b/body tracking/cpp/src/GLViewer.cpp @@ -270,7 +270,7 @@ void GLViewer::updateData(sl::Mat &matXYZRGBA, std::vector &objs auto clr_id = generateColorID(objs[i].id); if (objs[i].keypoint.size()) { if (body_format_ == sl::BODY_FORMAT::POSE_18) { - for (auto& limb : SKELETON_BONES) { + for (auto& limb : sl::BODY_BONES) { sl::float3 kp_1 = objs[i].keypoint[getIdx(limb.first)]; sl::float3 kp_2 = objs[i].keypoint[getIdx(limb.second)]; float norm_1 = kp_1.norm(); diff --git a/body tracking/cpp/src/TrackingViewer.cpp b/body tracking/cpp/src/TrackingViewer.cpp index f9d9949e..dfeb34f8 100644 --- a/body tracking/cpp/src/TrackingViewer.cpp +++ b/body tracking/cpp/src/TrackingViewer.cpp @@ -21,7 +21,7 @@ void render_2D(cv::Mat &left_display, sl::float2 img_scale, std::vector +#include + +// ZED include +#include + +// OpenCV include (for display) +#include + +// Using std and sl namespaces +using namespace std; +using namespace sl; + +// Sample functions +void printHelp(); +void print(string msg_prefix, ERROR_CODE err_code = ERROR_CODE::SUCCESS, string msg_suffix = ""); +void parseArgs(int argc, char **argv,sl::InitParameters& param); + +// Sample variables +int step_camera_setting = 1; + Camera zed; + +bool selectInProgress = false; +sl::Rect selection_rect; +cv::Point origin_rect; +static void onMouse(int event, int x, int y, int, void*) +{ + switch (event) + { + case cv::EVENT_LBUTTONDOWN: + { + origin_rect = cv::Point(x, y); + selectInProgress = true; + break; + } + + case cv::EVENT_LBUTTONUP: + { + selectInProgress = false; + zed.setCameraSettings(VIDEO_SETTINGS::AEC_AGC_ROI, selection_rect, sl::SIDE::BOTH); + break; + } + + case cv::EVENT_RBUTTONDOWN: + { + // Reset selection + selectInProgress = false; + selection_rect = sl::Rect(0,0,0,0); + break; + } + } + + if (selectInProgress) + { + selection_rect.x = MIN(x, origin_rect.x); + selection_rect.y = MIN(y, origin_rect.y); + selection_rect.width = abs(x - origin_rect.x) + 1; + selection_rect.height = abs(y - origin_rect.y) + 1; + } +} + +int main(int argc, char **argv) { + + // Create a ZED Camera object + + sl::InitParameters init_parameters; + init_parameters.sdk_verbose = true; + init_parameters.camera_resolution= sl::RESOLUTION::HD720; + init_parameters.depth_mode = sl::DEPTH_MODE::NONE; // no depth computation required here + parseArgs(argc,argv, init_parameters); + + // Open the camera + auto returned_state = zed.open(init_parameters); + if (returned_state != ERROR_CODE::SUCCESS) { + print("Camera Open", returned_state, "Exit program."); + return EXIT_FAILURE; + } + + cv::String win_name = "ROI Exposure"; + cv::namedWindow(win_name, cv::WINDOW_NORMAL); + cv::setMouseCallback(win_name, onMouse); + + // Print camera information + auto camera_info = zed.getCameraInformation(); + cout << endl; + cout <<"ZED Model : "<(sl::MEM::CPU)); + + //Check that selection rectangle is valid and draw it on the image + if (!selection_rect.isEmpty() && selection_rect.isContained(sl::Resolution(cvImage.cols, cvImage.rows))) + cv::rectangle(cvImage, cv::Rect(selection_rect.x,selection_rect.y,selection_rect.width,selection_rect.height),cv::Scalar(220, 180, 20), 2); + + //Display the image + cv::imshow(win_name, cvImage); + }else { + print("Error during capture : ", returned_state); + break; + } + + key = cv::waitKey(10); + // Change camera settings with keyboard + if(key == 'f') { + selectInProgress = false; + selection_rect = sl::Rect(0,0,0,0); + print("reset AEC_AGC_ROI to full res"); + zed.setCameraSettings(VIDEO_SETTINGS::AEC_AGC_ROI,selection_rect,sl::SIDE::BOTH,true); + } + } + + // Exit + zed.close(); + return EXIT_SUCCESS; +} + +/** + This function displays help + **/ +void printHelp() { + cout << "\n\nCamera controls hotkeys:\n"; + cout << "* Reset exposure ROI to full image 'f'\n"; + cout << "* Exit : 'q'\n\n"; +} + +void print(string msg_prefix, ERROR_CODE err_code, string msg_suffix) { + cout <<"[Sample]"; + if (err_code != ERROR_CODE::SUCCESS) + cout << "[Error] "; + else + cout<<" "; + cout << msg_prefix << " "; + if (err_code != ERROR_CODE::SUCCESS) { + cout << " | " << toString(err_code) << " : "; + cout << toVerbose(err_code); + } + if (!msg_suffix.empty()) + cout << " " << msg_suffix; + cout << endl; +} + +void parseArgs(int argc, char **argv,sl::InitParameters& param) +{ + if (argc > 1 && string(argv[1]).find(".svo")!=string::npos) { + // SVO input mode not available in camera control + cout<<"SVO Input mode is not available for camera control sample"< 1 && string(argv[1]).find(".svo")==string::npos) { + string arg = string(argv[1]); + unsigned int a,b,c,d,port; + if (sscanf(arg.c_str(),"%u.%u.%u.%u:%d", &a, &b, &c, &d,&port) == 5) { + // Stream input mode - IP + port + string ip_adress = to_string(a)+"."+to_string(b)+"."+to_string(c)+"."+to_string(d); + param.input.setFromStream(sl::String(ip_adress.c_str()),port); + cout<<"[Sample] Using Stream input, IP : "< + + + + + diff --git a/camera roi/auto exposure/csharp/CMakeLists.txt b/camera roi/auto exposure/csharp/CMakeLists.txt new file mode 100644 index 00000000..7da84f04 --- /dev/null +++ b/camera roi/auto exposure/csharp/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required( VERSION 3.8.0 ) + +project(ZED_ROI_Exposure CSharp) + +add_executable(${PROJECT_NAME} + Program.cs + App.config + packages.config + Properties/AssemblyInfo.cs +) + +# Set the target platform to x64, since ZED SDK does not support 32-bits arch +target_compile_options(${PROJECT_NAME} PRIVATE "/platform:x64" ) + +# Set the .NET Framework version for the target. +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1") + +# Set the C# language version, otherwise default 3.0 is taken +set(CMAKE_CSharp_FLAGS "/langversion:7") + +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES + "Microsoft.CSharp" + "PresentationCore" + "PresentationFramework" + "System" + "System.Numerics" + "WindowsBase" +) + +set(CMAKE_SUPPRESS_REGENERATION true) +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_PACKAGE_REFERENCES + "Stereolabs.zed_3.7.*" + "OpenCvSharp4.Windows_4.5.0.20201013" +) diff --git a/camera roi/auto exposure/csharp/Program.cs b/camera roi/auto exposure/csharp/Program.cs new file mode 100644 index 00000000..36aa671a --- /dev/null +++ b/camera roi/auto exposure/csharp/Program.cs @@ -0,0 +1,295 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + +/******************************************************************************** + ** This sample demonstrates how to grab images and change the camera settings ** + ** with the ZED SDK ** + ********************************************************************************/ + +using System; +using System.Runtime.InteropServices; +using System.IO; +using System.Numerics; +using OpenCvSharp; +using sl; +using System.Net; + +class Program +{ + // Sample variables + static VIDEO_SETTINGS camera_settings_ = VIDEO_SETTINGS.BRIGHTNESS; + static string str_camera_settings = "BRIGHTNESS"; + static int step_camera_setting = 1; + static bool led_on = true; + + static OpenCvSharp.Point originRect = new Point(); + static sl.Rect selectionRect = new sl.Rect(); + static bool selectInProgress = false; + + static void Main(string[] args) + { + Camera zed = new Camera(0); + + InitParameters initParameters = new InitParameters() + { + 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); + Cv2.SetMouseCallback(winName, onMouse); + + 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()); + + // Check that selection rectangle is valid and draw it on the image + if (!(selectionRect.width == 0)) + { + Cv2.Rectangle(cvImage, new OpenCvSharp.Rect(selectionRect.x, selectionRect.y, selectionRect.width, selectionRect.height), new OpenCvSharp.Scalar(220, 180, 20), 2); + } + 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); + } + } + + static void updateCameraSettings(char key, ref Camera zed) + { + int current_value; + + // Keyboard shortcuts + switch (key) + { + + // Switch to the next camera parameter + case 's': + switchCameraSettings(); + current_value = zed.GetCameraSettings(camera_settings_); + break; + + // Increase camera settings value ('+' key) + case '+': + current_value = zed.GetCameraSettings(camera_settings_); + zed.SetCameraSettings(camera_settings_, current_value + step_camera_setting); + Console.WriteLine(str_camera_settings + ": " + zed.GetCameraSettings(camera_settings_)); + break; + + // Decrease camera settings value ('-' key) + case '-': + current_value = zed.GetCameraSettings(camera_settings_); + current_value = current_value > 0 ? current_value - step_camera_setting : 0; // take care of the 'default' value parameter: VIDEO_SETTINGS_VALUE_AUTO + zed.SetCameraSettings(camera_settings_, current_value); + Console.WriteLine(str_camera_settings + ": " + zed.GetCameraSettings(camera_settings_)); + break; + + //switch LED On : + case 'l': + led_on = !led_on; + zed.SetCameraSettings(sl.VIDEO_SETTINGS.LED_STATUS, Convert.ToInt32(led_on)); + break; + + // Reset to default parameters + case 'r': + Console.WriteLine("Reset all settings to default\n"); + zed.ResetCameraSettings(); + break; + + case 'a': + { + Console.WriteLine("[Sample] set AEC_AGC_ROI on target [" + selectionRect.x + "," + selectionRect.y + "," + selectionRect.width + "," + selectionRect.height + "]"); + zed.SetCameraSettings(VIDEO_SETTINGS.AEC_AGC_ROI, sl.SIDE.BOTH, selectionRect, false); + } + break; + + case 'f': + Console.WriteLine("reset AEC_AGC_ROI to full res"); + zed.SetCameraSettings(VIDEO_SETTINGS.AEC_AGC_ROI, sl.SIDE.BOTH, selectionRect, true); + break; + + } + } + + static void switchCameraSettings() + { + camera_settings_ = (VIDEO_SETTINGS)((int)camera_settings_ + 1); + + // reset to 1st setting + if (camera_settings_ == VIDEO_SETTINGS.LED_STATUS) + camera_settings_ = VIDEO_SETTINGS.BRIGHTNESS; + + // increment if AEC_AGC_ROI since it using the overloaded function + if (camera_settings_ == VIDEO_SETTINGS.AEC_AGC_ROI) + camera_settings_ = (VIDEO_SETTINGS)((int)camera_settings_ + 1); + + // select the right step + step_camera_setting = (camera_settings_ == VIDEO_SETTINGS.WHITEBALANCE) ? 100 : 1; + + // get the name of the selected SETTING + str_camera_settings = camera_settings_.ToString(); + + Console.WriteLine("Switch to camera settings : " + str_camera_settings); + } + + static void onMouse(MouseEventTypes @event, int x, int y, MouseEventFlags flags, IntPtr userData) + { + switch (@event) + { + case OpenCvSharp.MouseEventTypes.LButtonDown: + { + originRect = new OpenCvSharp.Point(x, y); + selectInProgress = true; + break; + } + + case OpenCvSharp.MouseEventTypes.LButtonUp: + { + selectInProgress = false; + break; + } + + case OpenCvSharp.MouseEventTypes.RButtonDown: + { + //Reset selection + selectInProgress = false; + selectionRect = new sl.Rect(); + selectionRect.x = 0; + selectionRect.y = 0; + selectionRect.width = 0; + selectionRect.height = 0; + break; + } + } + if (selectInProgress) + { + selectionRect.x = Math.Min(x, originRect.X); + selectionRect.y = Math.Min(y, originRect.Y); + selectionRect.width = Math.Abs(x - originRect.X) + 1; + selectionRect.height = Math.Abs(y - originRect.Y) + 1; + } + } + + static private void parseArgs(string[] args, ref sl.InitParameters param) + { + if (args.Length > 0 && args[0].IndexOf(".svo") != -1) + { + // SVO input mode + param.inputType = INPUT_TYPE.SVO; + param.pathSVO = args[0]; + Console.WriteLine("[Sample] Using SVO File input: " + args[0]); + } + else if (args.Length > 0 && args[0].IndexOf(".svo") == -1) + { + IPAddress ip; + string arg = args[0]; + if (IPAddress.TryParse(arg, out ip)) + { + // Stream input mode - IP + port + param.inputType = INPUT_TYPE.STREAM; + param.ipStream = ip.ToString(); + Console.WriteLine("[Sample] Using Stream input, IP : " + ip); + } + else if (args[0].IndexOf("HD2K") != -1) + { + param.resolution = sl.RESOLUTION.HD2K; + Console.WriteLine("[Sample] Using Camera in resolution HD2K"); + } + else if (args[0].IndexOf("HD1080") != -1) + { + param.resolution = sl.RESOLUTION.HD1080; + Console.WriteLine("[Sample] Using Camera in resolution HD1080"); + } + else if (args[0].IndexOf("HD720") != -1) + { + param.resolution = sl.RESOLUTION.HD720; + Console.WriteLine("[Sample] Using Camera in resolution HD720"); + } + else if (args[0].IndexOf("VGA") != -1) + { + param.resolution = sl.RESOLUTION.VGA; + Console.WriteLine("[Sample] Using Camera in resolution VGA"); + } + } + else + { + // + } + } + + /** + This function displays help + **/ + static void printHelp() + { + Console.WriteLine("Camera controls hotkeys:"); + Console.WriteLine("* Increase camera settings value: '+'"); + Console.WriteLine("* Decrease camera settings value: '-'"); + Console.WriteLine("* Toggle camera settings: 's'"); + Console.WriteLine("* Toggle camera LED: 'l' (lower L)"); + Console.WriteLine("* Reset all parameters: 'r'"); + Console.WriteLine("* Reset exposure ROI to full image 'f'"); + Console.WriteLine("* Use mouse to select an image area to apply exposure (press 'a')"); + Console.WriteLine("* Exit : 'q'"); + Console.WriteLine(""); + } +} \ No newline at end of file diff --git a/camera roi/auto exposure/csharp/Properties/AssemblyInfo.cs b/camera roi/auto exposure/csharp/Properties/AssemblyInfo.cs new file mode 100644 index 00000000..580aea52 --- /dev/null +++ b/camera roi/auto exposure/csharp/Properties/AssemblyInfo.cs @@ -0,0 +1,36 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// General Information about an assembly is controlled through the following +// set of attributes. Change these attribute values to modify the information +// associated with an assembly. +[assembly: AssemblyTitle("Tutorials")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("Tutorials")] +[assembly: AssemblyCopyright("Copyright © 2021")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// Setting ComVisible to false makes the types in this assembly not visible +// to COM components. If you need to access a type in this assembly from +// COM, set the ComVisible attribute to true on that type. +[assembly: ComVisible(false)] + +// The following GUID is for the ID of the typelib if this project is exposed to COM +[assembly: Guid("db8455c8-b2a9-4e62-9597-7b26c432a999")] + +// Version information for an assembly consists of the following four values: +// +// Major Version +// Minor Version +// Build Number +// Revision +// +// You can specify all the values or you can default the Build and Revision Numbers +// by using the '*' as shown below: +// [assembly: AssemblyVersion("1.0.*")] +[assembly: AssemblyVersion("1.0.0.0")] +[assembly: AssemblyFileVersion("1.0.0.0")] diff --git a/camera roi/auto exposure/csharp/README.md b/camera roi/auto exposure/csharp/README.md new file mode 100644 index 00000000..06e07738 --- /dev/null +++ b/camera roi/auto exposure/csharp/README.md @@ -0,0 +1,25 @@ +# ZED SDK - Camera Control + +This sample shows how to capture images with the ZED SDK and adjust camera settings. + +## Getting Started +- Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/), NuGet packages are automatically downloaded + - Check the [Documentation](https://www.stereolabs.com/docs/) + +## Build the program + - Build for [Windows](https://www.stereolabs.com/docs/app-development/cpp/windows/) + +## Run the program +- Navigate to the build directory and launch the executable +- Or open a terminal in the build directory and run the sample : + + ./ZED_ROI_Exposure + +### Features + + - Camera images are displayed on an OpenCV windows + - The auto exposure using an ROI can be changed + + +## Support +If you need assistance go to our Community site at https://community.stereolabs.com/ \ No newline at end of file diff --git a/camera roi/auto exposure/csharp/packages.config b/camera roi/auto exposure/csharp/packages.config new file mode 100644 index 00000000..8038b422 --- /dev/null +++ b/camera roi/auto exposure/csharp/packages.config @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/camera roi/auto exposure/python/README.md b/camera roi/auto exposure/python/README.md new file mode 100644 index 00000000..ecf4dc39 --- /dev/null +++ b/camera roi/auto exposure/python/README.md @@ -0,0 +1,20 @@ +# ZED SDK - Camera Control + +This sample shows how to capture images with the ZED SDK and adjust camera settings. + +## Getting Started + - Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/) and [pyZED Package](https://www.stereolabs.com/docs/app-development/python/install/) + - Check the [Documentation](https://www.stereolabs.com/docs/) + +## Run the program + + python "roi_exposure.py" + +### Features + + - Camera images are displayed on an OpenCV windows + - The auto exposure using an ROI can be changed + + +## Support +If you need assistance go to our Community site at https://community.stereolabs.com/ \ No newline at end of file diff --git a/camera roi/auto exposure/python/roi_exposure.py b/camera roi/auto exposure/python/roi_exposure.py new file mode 100644 index 00000000..8b237fbe --- /dev/null +++ b/camera roi/auto exposure/python/roi_exposure.py @@ -0,0 +1,174 @@ +######################################################################## +# +# Copyright (c) 2022, STEREOLABS. +# +# All rights reserved. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +# +######################################################################## + +""" + Live camera sample showing the camera information and video in real time and allows to control the different + settings. +""" + +import cv2 +import pyzed.sl as sl + +camera_settings = sl.VIDEO_SETTINGS.BRIGHTNESS +str_camera_settings = "BRIGHTNESS" +step_camera_settings = 1 + + +def main(): + print("Running...") + init = sl.InitParameters() + cam = sl.Camera() + if not cam.is_opened(): + print("Opening ZED Camera...") + status = cam.open(init) + if status != sl.ERROR_CODE.SUCCESS: + print(repr(status)) + exit() + + runtime = sl.RuntimeParameters() + mat = sl.Mat() + + print_camera_information(cam) + print_help() + + key = '' + while key != 113: # for 'q' key + err = cam.grab(runtime) + if err == sl.ERROR_CODE.SUCCESS: + cam.retrieve_image(mat, sl.VIEW.LEFT) + cv2.imshow("ZED", mat.get_data()) + key = cv2.waitKey(5) + settings(key, cam, runtime, mat) + else: + key = cv2.waitKey(5) + cv2.destroyAllWindows() + + cam.close() + print("\nFINISH") + + +def print_camera_information(cam): + print("Resolution: {0}, {1}.".format(round(cam.get_camera_information().camera_resolution.width, 2), cam.get_camera_information().camera_resolution.height)) + print("Camera FPS: {0}.".format(cam.get_camera_information().camera_fps)) + print("Firmware: {0}.".format(cam.get_camera_information().camera_firmware_version)) + print("Serial number: {0}.\n".format(cam.get_camera_information().serial_number)) + + +def print_help(): + print("Help for camera setting controls") + print(" Increase camera settings value: +") + print(" Decrease camera settings value: -") + print(" Switch camera settings: s") + print(" Reset all parameters: r") + print(" Record a video: z") + print(" Quit: q\n") + + +def settings(key, cam, runtime, mat): + if key == 115: # for 's' key + switch_camera_settings() + elif key == 43: # for '+' key + current_value = cam.get_camera_settings(camera_settings) + cam.set_camera_settings(camera_settings, current_value + step_camera_settings) + print(str_camera_settings + ": " + str(current_value + step_camera_settings)) + elif key == 45: # for '-' key + current_value = cam.get_camera_settings(camera_settings) + if current_value >= 1: + cam.set_camera_settings(camera_settings, current_value - step_camera_settings) + print(str_camera_settings + ": " + str(current_value - step_camera_settings)) + elif key == 114: # for 'r' key + cam.set_camera_settings(sl.VIDEO_SETTINGS.BRIGHTNESS, -1) + cam.set_camera_settings(sl.VIDEO_SETTINGS.CONTRAST, -1) + cam.set_camera_settings(sl.VIDEO_SETTINGS.HUE, -1) + cam.set_camera_settings(sl.VIDEO_SETTINGS.SATURATION, -1) + cam.set_camera_settings(sl.VIDEO_SETTINGS.SHARPNESS, -1) + cam.set_camera_settings(sl.VIDEO_SETTINGS.GAIN, -1) + cam.set_camera_settings(sl.VIDEO_SETTINGS.EXPOSURE, -1) + cam.set_camera_settings(sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE, -1) + print("Camera settings: reset") + elif key == 122: # for 'z' key + record(cam, runtime, mat) + + +def switch_camera_settings(): + global camera_settings + global str_camera_settings + if camera_settings == sl.VIDEO_SETTINGS.BRIGHTNESS: + camera_settings = sl.VIDEO_SETTINGS.CONTRAST + str_camera_settings = "Contrast" + print("Camera settings: CONTRAST") + elif camera_settings == sl.VIDEO_SETTINGS.CONTRAST: + camera_settings = sl.VIDEO_SETTINGS.HUE + str_camera_settings = "Hue" + print("Camera settings: HUE") + elif camera_settings == sl.VIDEO_SETTINGS.HUE: + camera_settings = sl.VIDEO_SETTINGS.SATURATION + str_camera_settings = "Saturation" + print("Camera settings: SATURATION") + elif camera_settings == sl.VIDEO_SETTINGS.SATURATION: + camera_settings = sl.VIDEO_SETTINGS.SHARPNESS + str_camera_settings = "Sharpness" + print("Camera settings: Sharpness") + elif camera_settings == sl.VIDEO_SETTINGS.SHARPNESS: + camera_settings = sl.VIDEO_SETTINGS.GAIN + str_camera_settings = "Gain" + print("Camera settings: GAIN") + elif camera_settings == sl.VIDEO_SETTINGS.GAIN: + camera_settings = sl.VIDEO_SETTINGS.EXPOSURE + str_camera_settings = "Exposure" + print("Camera settings: EXPOSURE") + elif camera_settings == sl.VIDEO_SETTINGS.EXPOSURE: + camera_settings = sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE + str_camera_settings = "White Balance" + print("Camera settings: WHITEBALANCE") + elif camera_settings == sl.VIDEO_SETTINGS.WHITEBALANCE_TEMPERATURE: + camera_settings = sl.VIDEO_SETTINGS.BRIGHTNESS + str_camera_settings = "Brightness" + print("Camera settings: BRIGHTNESS") + + +def record(cam, runtime, mat): + vid = sl.ERROR_CODE.FAILURE + out = False + while vid != sl.ERROR_CODE.SUCCESS and not out: + filepath = input("Enter filepath name: ") + record_param = sl.RecordingParameters(filepath) + vid = cam.enable_recording(record_param) + print(repr(vid)) + if vid == sl.ERROR_CODE.SUCCESS: + print("Recording started...") + out = True + print("Hit spacebar to stop recording: ") + key = False + while key != 32: # for spacebar + err = cam.grab(runtime) + if err == sl.ERROR_CODE.SUCCESS: + cam.retrieve_image(mat) + cv2.imshow("ZED", mat.get_data()) + key = cv2.waitKey(5) + else: + print("Help: you must enter the filepath + filename + SVO extension.") + print("Recording not started.") + cam.disable_recording() + print("Recording finished.") + cv2.destroyAllWindows() + +if __name__ == "__main__": + main() diff --git a/camera roi/sensing roi/README.md b/camera roi/sensing roi/README.md new file mode 100644 index 00000000..eb34b43d --- /dev/null +++ b/camera roi/sensing roi/README.md @@ -0,0 +1,9 @@ +# ZED SDK - Exclusion ROI measure + +## This sample shows how to apply an exclusion ROI, to avoid noise from known invalid regions + +### Features + + - Camera images are displayed on an OpenCV windows + - The ROI can be constructed from multiple rectangles, selected using OpenCV mouse callback + - The ROI can be saved and reloaded from an image, the result is shown for the depth map image, but it's also applied for the positional tracking, object detection and all modules that use the depth map. \ No newline at end of file diff --git a/camera roi/sensing roi/cpp/CMakeLists.txt b/camera roi/sensing roi/cpp/CMakeLists.txt new file mode 100644 index 00000000..390ba459 --- /dev/null +++ b/camera roi/sensing roi/cpp/CMakeLists.txt @@ -0,0 +1,39 @@ +CMAKE_MINIMUM_REQUIRED(VERSION 3.5) +PROJECT(ZED_Sensing_ROI) + +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +SET(CMAKE_BUILD_TYPE "Release") + +option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON) + +if (NOT LINK_SHARED_ZED AND MSVC) + message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows") +endif() + +find_package(ZED 3 REQUIRED) +find_package(OpenCV REQUIRED) +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) + +include_directories(${CUDA_INCLUDE_DIRS}) +include_directories(${ZED_INCLUDE_DIRS}) +include_directories(${OpenCV_INCLUDE_DIRS}) + +link_directories(${ZED_LIBRARY_DIR}) +link_directories(${OpenCV_LIBRARY_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) + +ADD_EXECUTABLE(${PROJECT_NAME} src/main.cpp) + +if (LINK_SHARED_ZED) + SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) +else() + SET(ZED_LIBS ${ZED_STATIC_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARY}) +endif() + +TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${ZED_LIBS} ${OpenCV_LIBRARIES}) + +if(INSTALL_SAMPLES) + LIST(APPEND SAMPLE_LIST ${PROJECT_NAME}) + SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE) +endif() diff --git a/camera roi/sensing roi/cpp/src/main.cpp b/camera roi/sensing roi/cpp/src/main.cpp new file mode 100644 index 00000000..0b6da8ec --- /dev/null +++ b/camera roi/sensing roi/cpp/src/main.cpp @@ -0,0 +1,373 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + +/**************************************************************************************************** + ** This sample demonstrates how to apply an exclusion ROI to all ZED SDK measures ** + ** This can be very useful to avoid noise from a vehicle bonnet or drone propellers for instance ** + ***************************************************************************************************/ + + +// Standard includes +#include +#include + +// ZED include +#include + +// OpenCV include (for display) +#include + +// Using std and sl namespaces +using namespace std; +using namespace sl; + +void print(string msg_prefix, ERROR_CODE err_code, string msg_suffix); +void parseArgs(int argc, char **argv, InitParameters& param); + +#define SELECT_RECT 1 + +#if SELECT_RECT + +struct ROIdata { + // Current ROI, 0: means discard, other value will keep the pixel + cv::Mat ROI; + cv::Rect selection_rect; + cv::Point origin_rect; + bool selectInProgress = false; + bool selection = false; + + void reset(bool full = true) { + selectInProgress = false; + selection_rect = cv::Rect(0, 0, 0, 0); + if (full) { + ROI.setTo(0); + selection = false; + } + } +}; + +static void onMouse(int event, int x, int y, int, void* data) { + auto pdata = reinterpret_cast (data); + switch (event) { + case cv::EVENT_LBUTTONDOWN: + { + pdata->origin_rect = cv::Point(x, y); + pdata->selectInProgress = true; + break; + } + case cv::EVENT_LBUTTONUP: + { + pdata->selectInProgress = false; + // set ROI to valid for the given rectangle + cv::rectangle(pdata->ROI, pdata->selection_rect, cv::Scalar(250), -1); + pdata->selection = true; + break; + } + case cv::EVENT_RBUTTONDOWN: + { + pdata->reset(false); + break; + } + } + + if (pdata->selectInProgress) { + pdata->selection_rect.x = MIN(x, pdata->origin_rect.x); + pdata->selection_rect.y = MIN(y, pdata->origin_rect.y); + pdata->selection_rect.width = abs(x - pdata->origin_rect.x) + 1; + pdata->selection_rect.height = abs(y - pdata->origin_rect.y) + 1; + } +} +#else + +struct ROIdata { + // Current ROI, 0: means discard, other value will keep the pixel + cv::Mat ROI; + std::vector> polygons; + std::vector current_select; + bool selection = false; + bool selectInProgress = false; + + void reset() { + polygons.clear(); + ROI.setTo(0); + selection = true; + selectInProgress = false; + } +}; + +static void onMouse(int event, int x, int y, int, void* data) { + auto pdata = reinterpret_cast (data); + switch (event) { + case cv::EVENT_LBUTTONDOWN : + pdata->selectInProgress = true; + break; + case cv::EVENT_MOUSEMOVE: + if (pdata->selectInProgress) + pdata->current_select.push_back(cv::Point(x, y)); + break; + case cv::EVENT_LBUTTONUP: + if (pdata->current_select.size() > 2) { + pdata->polygons.push_back(pdata->current_select); + pdata->current_select.clear(); + } + pdata->selectInProgress = false; + break; + case cv::EVENT_RBUTTONDOWN: + pdata->reset(); + break; + } +} +#endif + +void applyMask(cv::Mat& cvImage, ROIdata& data); + +int main(int argc, char **argv) { + + // Create a ZED Camera object + Camera zed; + + InitParameters init_parameters; + init_parameters.camera_resolution = RESOLUTION::HD720; + parseArgs(argc, argv, init_parameters); + + // Open the camera + auto returned_state = zed.open(init_parameters); + if (returned_state != ERROR_CODE::SUCCESS) { + print("Camera Open", returned_state, "Exit program."); + return EXIT_FAILURE; + } + + cv::String imWndName = "Image"; + cv::String depthWndName = "Depth"; + cv::String ROIWndName = "ROI"; + cv::namedWindow(imWndName, cv::WINDOW_NORMAL); + cv::namedWindow(ROIWndName, cv::WINDOW_NORMAL); + cv::namedWindow(depthWndName, cv::WINDOW_NORMAL); + +#if SELECT_RECT + std::cout << "Draw some rectangles on the left image with a left click\n"; +#else + std::cout << "Draw some shapes on the left image with a left click\n"; +#endif + std::cout << "Press 'a' to apply the ROI\n" + "Press 'r' to reset the ROI\n" + "Press 's' to save the ROI as image file to reload it later\n" + "Press 'l' to load the ROI from an image file" << std::endl; + + auto resolution = getResolution(init_parameters.camera_resolution); + // Create a Mat to store images + Mat zed_image(resolution, MAT_TYPE::U8_C4); + cv::Mat cvImage(resolution.height, resolution.width, CV_8UC4, zed_image.getPtr(MEM::CPU)); + + Mat zed_depth_image(resolution, MAT_TYPE::U8_C4); + cv::Mat cvDepthImage(resolution.height, resolution.width, CV_8UC4, zed_depth_image.getPtr(MEM::CPU)); + + ROIdata roi_data; + roi_data.ROI = cv::Mat(resolution.height, resolution.width, CV_8UC1); + roi_data.reset(); + + // set Mouse Callback to handle User inputs + cv::setMouseCallback(imWndName, onMouse, &roi_data); + + std::string mask_name = "Mask.png"; + + // Capture new images until 'q' is pressed + char key = ' '; + while ((key != 'q') && (key != 27)) { + // Check that a new image is successfully acquired + returned_state = zed.grab(); + if (returned_state == ERROR_CODE::SUCCESS) { + // Retrieve left image + zed.retrieveImage(zed_image, VIEW::LEFT); + zed.retrieveImage(zed_depth_image, VIEW::DEPTH); + + // Draw rectangle on the image + if (roi_data.selection) + applyMask(cvImage, roi_data); + + cv::imshow(imWndName, cvImage); + //Display the image and the current global ROI + cv::imshow(depthWndName, cvDepthImage); + cv::imshow(ROIWndName, roi_data.ROI); + } + + key = cv::waitKey(15); + + // Apply Current ROI + if (key == 'a') { + Mat slROI(resolution, MAT_TYPE::U8_C1, roi_data.ROI.data, roi_data.ROI.step); + zed.setRegionOfInterest(slROI); + } else if (key == 'r') { //Reset ROI + Mat emptyROI; + zed.setRegionOfInterest(emptyROI); + // clear user data + roi_data.reset(); + } else if (key == 's') { + // Save the current Mask to be loaded in another app + cv::imwrite(mask_name, roi_data.ROI); + } else if (key == 'l') { + // Load the mask from a previously saved file + cv::Mat tmp = cv::imread(mask_name); + if (!tmp.empty()) { + roi_data.ROI = tmp; + Mat slROI(resolution, MAT_TYPE::U8_C1, roi_data.ROI.data, roi_data.ROI.step); + zed.setRegionOfInterest(slROI); + } else std::cout << mask_name << " could not be found" << std::endl; + } + } + + // Exit + zed.close(); + return EXIT_SUCCESS; +} + +void print(string msg_prefix, ERROR_CODE err_code, string msg_suffix) { + cout << "[Sample]"; + if (err_code != ERROR_CODE::SUCCESS) + cout << "[Error] "; + else + cout << " "; + cout << msg_prefix << " "; + if (err_code != ERROR_CODE::SUCCESS) { + cout << " | " << toString(err_code) << " : "; + cout << toVerbose(err_code); + } + if (!msg_suffix.empty()) + cout << " " << msg_suffix; + cout << endl; +} + +void parseArgs(int argc, char **argv, InitParameters& param) { + if (argc > 1 && string(argv[1]).find(".svo") != string::npos) { + param.input.setFromSVOFile(argv[1]); + } else if (argc > 1 && string(argv[1]).find(".svo") == string::npos) { + string arg = string(argv[1]); + unsigned int a, b, c, d, port; + if (sscanf(arg.c_str(), "%u.%u.%u.%u:%d", &a, &b, &c, &d, &port) == 5) { + // Stream input mode - IP + port + string ip_adress = to_string(a) + "." + to_string(b) + "." + to_string(c) + "." + to_string(d); + param.input.setFromStream(String(ip_adress.c_str()), port); + cout << "[Sample] Using Stream input, IP : " << ip_adress << ", port : " << port << endl; + } else if (sscanf(arg.c_str(), "%u.%u.%u.%u", &a, &b, &c, &d) == 4) { + // Stream input mode - IP only + param.input.setFromStream(String(argv[1])); + cout << "[Sample] Using Stream input, IP : " << argv[1] << endl; + } else if (arg.find("HD2K") != string::npos) { + param.camera_resolution = RESOLUTION::HD2K; + cout << "[Sample] Using Camera in resolution HD2K" << endl; + } else if (arg.find("HD1080") != string::npos) { + param.camera_resolution = RESOLUTION::HD1080; + cout << "[Sample] Using Camera in resolution HD1080" << endl; + } else if (arg.find("HD720") != string::npos) { + param.camera_resolution = RESOLUTION::HD720; + cout << "[Sample] Using Camera in resolution HD720" << endl; + } else if (arg.find("VGA") != string::npos) { + param.camera_resolution = RESOLUTION::VGA; + cout << "[Sample] Using Camera in resolution VGA" << endl; + } + } else { + // Default + } +} + + +#if SELECT_RECT +void applyMask(cv::Mat& cvImage, ROIdata& data) { + auto res = cvImage.size(); + const float darker = 0.8f; // make the image darker + + for (int y = 0; y < res.height; y++) { + // line pointer + uchar * ptr_mask = (uchar *) ((data.ROI.data) + y * data.ROI.step); + sl::uchar4* ptr_image = (sl::uchar4*) (cvImage.data + y * cvImage.step); + + for (int x = 0; x < res.width; x++) { + if (ptr_mask[x] == 0) { + auto &px = ptr_image[x]; + // make the pixel darker without overflow + px.x = px.x * darker; + px.y = px.y * darker; + px.z = px.z * darker; + } + } + } + + // DIsplay current selection + cv::rectangle(cvImage, data.selection_rect, cv::Scalar(255, 90, 0, 255), 3); +} +#else + +inline bool contains(std::vector& poly, cv::Point2f test) { + int i, j; + bool c = false; + const int nvert = poly.size(); + for (i = 0, j = nvert - 1; i < nvert; j = i++) { + if (((poly[i].y > test.y) != (poly[j].y > test.y)) && + (test.x < (poly[j].x - poly[i].x) * (test.y - poly[i].y) / (poly[j].y - poly[i].y) + poly[i].x)) + c = !c; + } + return c; +} + +inline bool contains(std::vector>& polygons, cv::Point2f test) { + bool c = false; + for (auto& it : polygons) { + c = contains(it, test); + if (c) break; + } + return c; +} + +void applyMask(cv::Mat& cvImage, ROIdata &data) { + // left_sl and mask must be at the same size + auto res = cvImage.size(); + const float darker = 0.8f; // make the image darker + + // Convert P�lygons into real Mask +#if 1 // manual check + for (int y = 0; y < res.height; y++) { + uchar* ptr_mask = (uchar*)((data.ROI.data) + y * data.ROI.step); + sl::uchar4* ptr_image = (sl::uchar4*)(cvImage.data+ y * cvImage.step); + for (int x = 0; x < res.width; x++) { + if (contains(data.polygons, cv::Point2f(x,y))) + ptr_mask[x] = 255; + else { + auto& px = ptr_image[x]; + // make the pixel darker without overflow + px.x = px.x * darker; + px.y = px.y * darker; + px.z = px.z * darker; + } + } + } +#else // same with open Function + cv::fillPoly(data.ROI, data.polygons, 255); +#endif + + // Display current selection + if (data.current_select.size() > 2) { + auto last = data.current_select.back(); + for (auto& it : data.current_select) { + cv::line(cvImage, last, it, cv::Scalar(30, 130, 240), 1); + last = it; + } + } +} +#endif \ No newline at end of file diff --git a/camera streaming/receiver/cpp/src/main.cpp b/camera streaming/receiver/cpp/src/main.cpp index 681de3d8..78e8c1aa 100644 --- a/camera streaming/receiver/cpp/src/main.cpp +++ b/camera streaming/receiver/cpp/src/main.cpp @@ -132,7 +132,6 @@ int main(int argc, char **argv) { // Set configuration parameters for the ZED InitParameters init_parameters; init_parameters.depth_mode = DEPTH_MODE::NONE; - init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; // OpenGL's coordinate system is right_handed init_parameters.sdk_verbose = true; string stream_params; diff --git a/depth sensing/cpp/CMakeLists.txt b/depth sensing/cpp/CMakeLists.txt index 57c66f40..ceba1037 100644 --- a/depth sensing/cpp/CMakeLists.txt +++ b/depth sensing/cpp/CMakeLists.txt @@ -20,7 +20,7 @@ find_package(OpenGL REQUIRED) include_directories(${ZED_INCLUDE_DIRS}) include_directories(${GLEW_INCLUDE_DIRS}) -include_directories(${GLUT_INCLUDE_PATH}) +include_directories(${GLUT_INCLUDE_DIR}) include_directories(${CUDA_INCLUDE_DIRS}) include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include) diff --git a/depth sensing/cpp/include/GLViewer.hpp b/depth sensing/cpp/include/GLViewer.hpp index af3b4dcc..52f26fc1 100644 --- a/depth sensing/cpp/include/GLViewer.hpp +++ b/depth sensing/cpp/include/GLViewer.hpp @@ -171,7 +171,7 @@ class PointCloud { // Initialize Opengl and Cuda buffers // Warning: must be called in the Opengl thread - void initialize(sl::Resolution res); + void initialize(sl::Resolution res, CUstream strm); // Push a new point cloud // Warning: can be called from any thread but the mutex "mutexData" must be locked void pushNewPC(sl::Mat &matXYZRGBA); @@ -194,6 +194,7 @@ class PointCloud { float* xyzrgbaMappedBuf_; GLuint bufferGLID_; cudaGraphicsResource* bufferCudaID_; + CUstream strm; }; // This class manages input events, window and Opengl rendering pipeline @@ -203,7 +204,7 @@ class GLViewer { ~GLViewer(); bool isAvailable(); - GLenum init(int argc, char **argv, sl::CameraParameters param); + GLenum init(int argc, char **argv, sl::CameraParameters param, CUstream strm); void updatePointCloud(sl::Mat &matXYZRGBA); void exit(); diff --git a/depth sensing/cpp/src/GLViewer.cpp b/depth sensing/cpp/src/GLViewer.cpp index c573cf95..d73e2531 100644 --- a/depth sensing/cpp/src/GLViewer.cpp +++ b/depth sensing/cpp/src/GLViewer.cpp @@ -105,7 +105,7 @@ Simple3DObject createFrustum(sl::CameraParameters param) { void CloseFunc(void) { if(currentInstance_) currentInstance_->exit();} -GLenum GLViewer::init(int argc, char **argv, sl::CameraParameters param) { +GLenum GLViewer::init(int argc, char **argv, sl::CameraParameters param, CUstream strm_) { glutInit(&argc, argv); int wnd_w = glutGet(GLUT_SCREEN_WIDTH); @@ -123,7 +123,7 @@ GLenum GLViewer::init(int argc, char **argv, sl::CameraParameters param) { glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_CONTINUE_EXECUTION); glEnable(GL_DEPTH_TEST); - pointCloud_.initialize(param.image_size); + pointCloud_.initialize(param.image_size, strm_); // Compile and create the shader shader_ = Shader(VERTEX_SHADER, FRAGMENT_SHADER); @@ -532,11 +532,12 @@ void PointCloud::close() { } } -void PointCloud::initialize(sl::Resolution res) { +void PointCloud::initialize(sl::Resolution res, CUstream strm_) { glGenBuffers(1, &bufferGLID_); glBindBuffer(GL_ARRAY_BUFFER, bufferGLID_); glBufferData(GL_ARRAY_BUFFER, res.area() * 4 * sizeof(float), 0, GL_DYNAMIC_DRAW); glBindBuffer(GL_ARRAY_BUFFER, 0); + strm = strm_; checkError(cudaGraphicsGLRegisterBuffer(&bufferCudaID_, bufferGLID_, cudaGraphicsRegisterFlagsNone)); @@ -551,14 +552,14 @@ void PointCloud::initialize(sl::Resolution res) { void PointCloud::pushNewPC(sl::Mat &matXYZRGBA) { if (matGPU_.isInit()) { - matGPU_.setFrom(matXYZRGBA, sl::COPY_TYPE::GPU_GPU); + matGPU_.setFrom(matXYZRGBA, sl::COPY_TYPE::GPU_GPU, strm); hasNewPCL_ = true; } } void PointCloud::update() { if (hasNewPCL_ && matGPU_.isInit()) { - checkError(cudaMemcpy(xyzrgbaMappedBuf_, matGPU_.getPtr(sl::MEM::GPU), numBytes_, cudaMemcpyDeviceToDevice)); + checkError(cudaMemcpyAsync(xyzrgbaMappedBuf_, matGPU_.getPtr(sl::MEM::GPU), numBytes_, cudaMemcpyDeviceToDevice, strm)); hasNewPCL_ = false; } } diff --git a/depth sensing/cpp/src/main.cpp b/depth sensing/cpp/src/main.cpp index ec3a9750..828ac318 100644 --- a/depth sensing/cpp/src/main.cpp +++ b/depth sensing/cpp/src/main.cpp @@ -40,9 +40,9 @@ int main(int argc, char **argv) { Camera zed; // Set configuration parameters for the ZED InitParameters init_parameters; - init_parameters.depth_mode = DEPTH_MODE::NEURAL; + init_parameters.depth_mode = DEPTH_MODE::ULTRA; init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; // OpenGL's coordinate system is right_handed - //init_parameters.sdk_verbose = 6; + init_parameters.sdk_verbose = 1; parseArgs(argc, argv, init_parameters); // Open the camera @@ -53,11 +53,12 @@ int main(int argc, char **argv) { } auto camera_config = zed.getCameraInformation().camera_configuration; + auto stream = zed.getCUDAStream(); // Point cloud viewer GLViewer viewer; // Initialize point cloud viewer - GLenum errgl = viewer.init(argc, argv, camera_config.calibration_parameters.left_cam); + GLenum errgl = viewer.init(argc, argv, camera_config.calibration_parameters.left_cam, stream); if (errgl != GLEW_OK) { print("Error OpenGL: " + std::string((char*)glewGetErrorString(errgl))); return EXIT_FAILURE; @@ -69,7 +70,7 @@ int main(int argc, char **argv) { runParameters.texture_confidence_threshold = 100; // Allocation of 4 channels of float on GPU - Mat point_cloud(camera_config.resolution, MAT_TYPE::F32_C4, MEM::GPU); + Mat point_cloud(camera_config.resolution, MAT_TYPE::F32_C4, sl::MEM::GPU); // Main Loop while (viewer.isAvailable()) { diff --git a/other/cuda refocus/CMakeLists.txt b/other/cuda refocus/CMakeLists.txt index a68da747..facea0e0 100644 --- a/other/cuda refocus/CMakeLists.txt +++ b/other/cuda refocus/CMakeLists.txt @@ -19,7 +19,7 @@ find_package(GLUT REQUIRED) find_package(GLEW REQUIRED) include_directories(${ZED_INCLUDE_DIRS}) -include_directories(${GLUT_INCLUDE_PATH}) +include_directories(${GLUT_INCLUDE_DIR}) include_directories(${GLEW_INCLUDE_DIRS}) include_directories(${OPENGL_INCLUDE_DIRS}) include_directories(${CUDA_INCLUDE_DIRS}) diff --git a/other/fbx export/CMakeLists.txt b/other/fbx export/CMakeLists.txt new file mode 100644 index 00000000..207e0177 --- /dev/null +++ b/other/fbx export/CMakeLists.txt @@ -0,0 +1,57 @@ +CMAKE_MINIMUM_REQUIRED(VERSION 3.5) + +PROJECT(ZED_FBX_Export) + +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +SET(CMAKE_BUILD_TYPE "Release") + +option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON) + +if (NOT LINK_SHARED_ZED AND MSVC) + message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows") +endif() + +find_package(ZED 3 REQUIRED) +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) + +# change this according to your FBX install directory +if(WIN32) + set(FBX_DIR "C:/Program Files/Autodesk/FBX/FBX SDK/2020.3.1") +else() + set(FBX_DIR "/usr/local/lib/FBX") +endif() + +include("${FBX_DIR}/samples/CMakeSettings.txt") + +include_directories(${CUDA_INCLUDE_DIRS}) +include_directories(${ZED_INCLUDE_DIRS}) +include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include) + +include_directories("${FBX_ROOT}/include") +set(FBX_COMMON_DIR "${FBX_CMAKE_ROOT}/Common") +include_directories("${FBX_COMMON_DIR}") + +link_directories(${ZED_LIBRARY_DIR}) +link_directories(${CUDA_LIBRARY_DIRS}) + +FILE(GLOB_RECURSE HDR_FILES include/*.h*) + +SET(EXPORT_CAMERA_PATH "ZED_FBX_Camera") +SET(EXPORT_SKELETONS "ZED_FBX_Skeletons") + +ADD_EXECUTABLE(${EXPORT_CAMERA_PATH} ${HDR_FILES} src/mainCamera.cpp ${FBX_COMMON_DIR}/Common.cxx) +ADD_EXECUTABLE(${EXPORT_SKELETONS} ${HDR_FILES} src/mainSkeletons.cpp ${FBX_COMMON_DIR}/Common.cxx) + +if (LINK_SHARED_ZED) + SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) +else() + SET(ZED_LIBS ${ZED_STATIC_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARY}) +endif() + +IF(NOT WIN32) + SET(SPECIAL_OS_LIBS "pthread;dl") +ENDIF() + +TARGET_LINK_LIBRARIES(${EXPORT_CAMERA_PATH} ${ZED_LIBS} ${FBXSDK_LIBRARY} ${FBX_REQUIRED_LIBS_DEPENDENCY} ${SPECIAL_OS_LIBS}) +TARGET_LINK_LIBRARIES(${EXPORT_SKELETONS} ${ZED_LIBS} ${FBXSDK_LIBRARY} ${FBX_REQUIRED_LIBS_DEPENDENCY} ${SPECIAL_OS_LIBS}) diff --git a/other/fbx export/README.md b/other/fbx export/README.md new file mode 100644 index 00000000..ad4d36b2 --- /dev/null +++ b/other/fbx export/README.md @@ -0,0 +1,44 @@ +# ZED SDK - FBX Export + + +This sample shows how to export ZED Camera data or skeleton data as FBX file compatible with 3D software like Blender or Maya. +It is using the [FBX SDK](https://www.autodesk.com/developer-network/platform-technologies/fbx-sdk-2020-2-1), make sure it is installed on your computer. + +____ + +## Export Camera Path + +This sample shows how to export the camera path as an FBX file. The trajectory will be saved as an animation and can be imported later in a 3D software such as Blender or Maya. + +## Export Skeleton data + +This sample shows how to export skeleton data detected by the ZED SDK to an FBX file. The skeleton data will be saved as animations and can be imported later in a 3D software such as Blender or Maya. +____ + +## Build the program + - Make sure you have installed the latest ZED SDK and the FBX SDK (C++ API). + + - Set the FBX install directory in the [cmake](CMakeLists.txt#L18) file. By default, it is installed at : +*C:/Program Files/Autodesk/FBX/FBX SDK/yourFBXSDKversion*. + + +and then build the sample (build both samples at once) : + +``` +mkdir build +cd build +cmake .. +make -j +``` + +## Run the program + +- Navigate to the build directory and launch the executable +- Or open a terminal in the build directory and run the sample : + + ./ZED_FBX_Camera + ./ZED_FBX_Skeletons + +## Support + +If you need assistance go to our Community site at https://community.stereolabs.com/ diff --git a/other/fbx export/include/utils.hpp b/other/fbx export/include/utils.hpp new file mode 100644 index 00000000..6a977f1d --- /dev/null +++ b/other/fbx export/include/utils.hpp @@ -0,0 +1,165 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + +#pragma once + +static bool exit_app = false; + +// Handle the CTRL-C keyboard signal +#ifdef _WIN32 +#include + +void CtrlHandler(DWORD fdwCtrlType) { + exit_app = (fdwCtrlType == CTRL_C_EVENT); +} +#else +#include +void nix_exit_handler(int s) { + exit_app = true; +} +#endif + +// Set the function to handle the CTRL-C +void SetCtrlHandler() { +#ifdef _WIN32 + SetConsoleCtrlHandler((PHANDLER_ROUTINE) CtrlHandler, TRUE); +#else // unix + struct sigaction sigIntHandler; + sigIntHandler.sa_handler = nix_exit_handler; + sigemptyset(&sigIntHandler.sa_mask); + sigIntHandler.sa_flags = 0; + sigaction(SIGINT, &sigIntHandler, NULL); +#endif +} + + +// Array containing keypoint indexes of each joint's parent. Used to build skeleton node hierarchy. +const int parentsIdx[] = { + -1, + 0, + 1, + 2, + 2, + 4, + 5, + 6, + 7, + 8, + 7, + 2, + 11, + 12, + 13, + 14, + 15, + 14, + 0, + 18, + 19, + 20, + 0, + 22, + 23, + 24, + 3, + 26, + 26, + 26, + 26, + 26, + 20, + 24 +}; + +// List of children of each joint. Used to build skeleton node hierarchy. +std::vector> childenIdx{ + {1,18,22}, + {2}, + {11,3,4}, + {26}, + {5}, + {6}, + {7}, + {8,10}, + {9}, + {}, + {}, + {12}, + {13}, + {14}, + {15,17}, + {16}, + {}, + {}, + {19}, + {20}, + {21,32}, + {}, + {23}, + {24}, + {25,33}, + {}, + {27,28,29,30,31}, + {}, + {}, + {}, + {}, + {}, + {}, + {} +}; + +// Local joint position of each joint. Used to build skeleton rest pose. +std::vector local_joints_translations{ + sl::float3(0,0,0), // 0 + sl::float3(0,20,0), // 1 + sl::float3(0,20,0), // 2 + sl::float3(0,20,0), // 3 + sl::float3(-5,20,0), // 4 + sl::float3(-15,0,0), // 5 + sl::float3(-26,0,0), // 6 + sl::float3(-25,0,0), // 7 + sl::float3(-5,0,0), // 8 + sl::float3(-10,0,0), // 9 + sl::float3(-10,-6,0), // 10 + sl::float3(5,20,0), // 11 + sl::float3(15,0,0), // 12 + sl::float3(26,0,0), // 13 + sl::float3(25,0,0), // 14 + sl::float3(5, 0, 0), // 15 + sl::float3(10,0,0), // 16 + sl::float3(10,-6,0), // 17 + sl::float3(-10,0,0), // 18 + sl::float3(0,-45,0), // 19 + sl::float3(0,-40,0), // 20 + sl::float3(0,-10,12), // 21 + sl::float3(10,0,0), // 22 + sl::float3(0,-45,0), // 23 + sl::float3(0,-40,0), // 24 + sl::float3(0,-10,12), // 25 + sl::float3(0,15,0), // 26 + sl::float3(0,10,0), // 27 + sl::float3(-3,13,0), // 28 + sl::float3(-8.5,10,-10), // 29 + sl::float3(3,13,0), // 30 + sl::float3(8.5,10,-10), // 31 + sl::float3(0,-10,-4), // 32 + sl::float3(0,-10,-4), // 33 +}; \ No newline at end of file diff --git a/other/fbx export/src/mainCamera.cpp b/other/fbx export/src/mainCamera.cpp new file mode 100644 index 00000000..53d80777 --- /dev/null +++ b/other/fbx export/src/mainCamera.cpp @@ -0,0 +1,266 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + + +#include +#include + +#include "Common.h" +#include "utils.hpp" + +using namespace std; +using namespace sl; + +void parseArgs(int argc, char** argv, InitParameters& param); +FbxNode* CreateMyZEDCamera(FbxScene* pScene, Camera& zed); + +int main(int argc, char **argv) { + + // Create a ZED camera object + Camera zed; + + // Set configuration parameters + InitParameters init_parameters; + init_parameters.camera_resolution = RESOLUTION::HD1080; + init_parameters.camera_fps = 30; + // The FBX Scene axis and unit are right handed, Y-Up and Centimeter. Do not change these parameters. + init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; + init_parameters.coordinate_units = UNIT::CENTIMETER; + + init_parameters.depth_mode = sl::DEPTH_MODE::ULTRA; + + parseArgs(argc, argv, init_parameters); + + // Open the camera + auto returned_state = zed.open(init_parameters); + if (returned_state != ERROR_CODE::SUCCESS) { + cout << "Error " << returned_state << ", exit program.\n"; + return EXIT_FAILURE; + } + + // Enable positional tracking + PositionalTrackingParameters tracking_parameters; + tracking_parameters.enable_area_memory = false; + tracking_parameters.enable_pose_smoothing = true; + + // Enable this parameter to align the tracking with the floor plane position. + // It is recommended not to disable it unless you know what you are doing. + tracking_parameters.set_floor_as_origin = true; + returned_state = zed.enablePositionalTracking(tracking_parameters); + + if (returned_state != ERROR_CODE::SUCCESS) { + cout << "Error " << returned_state << ", exit program.\n"; + return EXIT_FAILURE; + } + + FbxManager* fbx_manager = nullptr; + FbxScene* fbx_scene = nullptr; + // Prepare the FBX SDK. + InitializeSdkObjects(fbx_manager, fbx_scene); + + //Create a fbx node for camera + FbxNode* zed_camera_node = CreateMyZEDCamera(fbx_scene, zed); + // Create an animation stack + FbxAnimStack* anim_stack = FbxAnimStack::Create(fbx_scene, "Anim Stack"); + // Create the base layer (this is mandatory) + FbxAnimLayer* anim_base_layer = FbxAnimLayer::Create(fbx_scene, "Base Layer"); + anim_stack->AddMember(anim_base_layer); + // Get the cameras curve node for local translation. + // The second parameter to GetCurveNode() is "true" to ensure + // that the curve node is automatically created, if it does not exist. + FbxAnimCurveNode* translation_curve_node = zed_camera_node->LclTranslation.GetCurveNode(anim_base_layer, true); + FbxAnimCurveNode* rotation_curve_node = zed_camera_node->LclRotation.GetCurveNode(anim_base_layer, true); + FbxTime time; + int key_index = 0; // Index for the keys that define the curve + + // Get the animation curve for local translation of the camera. + // true: If the curve does not exist yet, create it. + FbxAnimCurve *translation_[3]; + translation_[0] = zed_camera_node->LclTranslation.GetCurve(anim_base_layer, FBXSDK_CURVENODE_COMPONENT_X, true); + translation_[1] = zed_camera_node->LclTranslation.GetCurve(anim_base_layer, FBXSDK_CURVENODE_COMPONENT_Y, true); + translation_[2] = zed_camera_node->LclTranslation.GetCurve(anim_base_layer, FBXSDK_CURVENODE_COMPONENT_Z, true); + + // Get the animation curve for local rotation of the camera. + // true: If the curve does not exist yet, create it. + FbxAnimCurve *rotation_[3]; + rotation_[0] = zed_camera_node->LclRotation.GetCurve(anim_base_layer, FBXSDK_CURVENODE_COMPONENT_X, true); + rotation_[1] = zed_camera_node->LclRotation.GetCurve(anim_base_layer, FBXSDK_CURVENODE_COMPONENT_Y, true); + rotation_[2] = zed_camera_node->LclRotation.GetCurve(anim_base_layer, FBXSDK_CURVENODE_COMPONENT_Z, true); + + bool has_started = false; + sl::Pose zed_pose; + + sl::Timestamp ts_start = sl::Timestamp(0); + sl::RuntimeParameters rt_params; + rt_params.measure3D_reference_frame = sl::REFERENCE_FRAME::WORLD; + + // Create countdown + int counter = 3; //duration of the countdown + // Countdown + std::cout << "FBX Export tool ... " << std::endl; + while (counter >= 1) + { + std::cout << "\r Starting recording in : " << counter - 1 << " sec" << std::flush; + sl::sleep_ms(1000); + counter--; + } + std::cout << std::endl; + + // Stop recording with Ctrl+C + std::cout << "Recording ... use Ctrl-C to stop." << std::endl; + SetCtrlHandler(); + + // Main loop + while (!exit_app) { + if (zed.grab(rt_params) == ERROR_CODE::SUCCESS) { + // Get the pose of the left eye of the camera with reference to the world frame + if (zed.getPosition(zed_pose, sl::REFERENCE_FRAME::WORLD) != sl::POSITIONAL_TRACKING_STATE::OK) { + continue; + } + + // Apply a 90 degres rotation as a FBXCamera is always oriented toward the X axis by default + sl::Orientation lcl_rotation = zed_pose.getOrientation() * sl::Orientation(sl::float4(0.0f, 0.707f, 0.0f, 0.707f)); // 90degres offset along the Y axis + // Convert rotation to euler angles + FbxQuaternion quat(lcl_rotation.x, lcl_rotation.y, lcl_rotation.z, lcl_rotation.w); + FbxVector4 rota_euler; + rota_euler.SetXYZ(quat); + + if (!has_started) { + ts_start = zed_pose.timestamp; + has_started = true; + } + + // Compute animation timestamp + sl::Timestamp ts_ms = (zed_pose.timestamp - ts_start).getMilliseconds(); + time.SetMilliSeconds(ts_ms); + + auto transaltion_value = zed_pose.getTranslation(); + // Set local translation of the camera + for(int t =0; t < 3; t++ ){ + translation_[t]->KeyModifyBegin(); + key_index = translation_[t]->KeyAdd(time); + translation_[t]->KeySet(key_index, time, transaltion_value.v[t], FbxAnimCurveDef::eInterpolationLinear); + translation_[t]->KeyModifyEnd(); + } + + // Set local rotation of the camera + for(int r =0; r < 3; r++ ){ + rotation_[r]->KeyModifyBegin(); + key_index = rotation_[r]->KeyAdd(time); + rotation_[r]->KeySet(key_index, time, rota_euler[r], FbxAnimCurveDef::eInterpolationLinear); + rotation_[r]->KeyModifyEnd(); + } + } + else + exit_app = true; + } + + // Disable positional tracking and close the camera + zed.disablePositionalTracking(); + zed.close(); + + // Save the scene. + std::string sampleFileName = "ZedCameraPath.fbx"; + auto result = SaveScene(fbx_manager, fbx_scene, sampleFileName.c_str(), 0 /*save as binary*/); + DestroySdkObjects(fbx_manager, result); + + if (result == false) { + FBXSDK_printf("\n\nAn error occurred while saving the scene...\n"); + return EXIT_FAILURE; + }else + return EXIT_SUCCESS; +} + +//This function illustrates how to create and connect camera. +FbxNode* CreateMyZEDCamera(FbxScene* pScene, Camera& zed) +{ + if (!pScene) + return NULL; + + pScene->GetGlobalSettings().SetCustomFrameRate(zed.getCameraInformation().camera_fps); + //create a fbx node for camera + FbxNode* cameraNode = FbxNode::Create(pScene, "zedCameraNode"); + //connect camera node to root node + FbxNode* rootNode = pScene->GetRootNode(); + rootNode->AddChild(cameraNode); + //create a camera, it's a node attribute of camera node. + fbxsdk::FbxCamera* camera = fbxsdk::FbxCamera::Create(pScene, "zedCamera"); + pScene->GetGlobalSettings().SetDefaultCamera((char*)camera->GetName()); + //set Camera as a node attribute of the FBX node. + cameraNode->SetNodeAttribute(camera); + camera->ProjectionType.Set(fbxsdk::FbxCamera::EProjectionType::ePerspective); + + //set camera format + camera->SetFormat(FbxCamera::eHD); + //set camera aperture format + camera->SetApertureFormat(FbxCamera::eCustomAperture); + //set camera aperture mode + camera->SetApertureMode(FbxCamera::eVertical); + //set camera FOV + double lFOV = zed.getCameraInformation().calibration_parameters.left_cam.v_fov; + camera->FieldOfView.Set(lFOV); + //set camera focal length + double lFocalLength = camera->ComputeFocalLength(lFOV); + camera->FocalLength.Set(lFocalLength); + cameraNode->LclTranslation.Set(FbxDouble3(0, 0, 0)); + cameraNode->LclRotation.Set(FbxDouble3(0, 0, 0)); + cameraNode->LclScaling.Set(FbxDouble3(1, 1, 1)); + + return cameraNode; +} + +void parseArgs(int argc, char** argv, InitParameters& param) { + if (argc > 1 && string(argv[1]).find(".svo") != string::npos) { + // SVO input mode + param.input.setFromSVOFile(argv[1]); + cout << "[Sample] Using SVO File input: " << argv[1] << endl; + } + else if (argc > 1 && string(argv[1]).find(".svo") == string::npos) { + string arg = string(argv[1]); + unsigned int a, b, c, d, port; + if (sscanf(arg.c_str(), "%u.%u.%u.%u:%d", &a, &b, &c, &d, &port) == 5) { + // Stream input mode - IP + port + string ip_adress = to_string(a) + "." + to_string(b) + "." + to_string(c) + "." + to_string(d); + param.input.setFromStream(String(ip_adress.c_str()), port); + cout << "[Sample] Using Stream input, IP : " << ip_adress << ", port : " << port << endl; + } + else if (sscanf(arg.c_str(), "%u.%u.%u.%u", &a, &b, &c, &d) == 4) { + // Stream input mode - IP only + param.input.setFromStream(String(argv[1])); + cout << "[Sample] Using Stream input, IP : " << argv[1] << endl; + } + else if (arg.find("HD2K") != string::npos) { + param.camera_resolution = RESOLUTION::HD2K; + cout << "[Sample] Using Camera in resolution HD2K" << endl; + } + else if (arg.find("HD1080") != string::npos) { + param.camera_resolution = RESOLUTION::HD1080; + cout << "[Sample] Using Camera in resolution HD1080" << endl; + } + else if (arg.find("HD720") != string::npos) { + param.camera_resolution = RESOLUTION::HD720; + cout << "[Sample] Using Camera in resolution HD720" << endl; + } + else if (arg.find("VGA") != string::npos) { + param.camera_resolution = RESOLUTION::VGA; + cout << "[Sample] Using Camera in resolution VGA" << endl; + } + } +} \ No newline at end of file diff --git a/other/fbx export/src/mainSkeletons.cpp b/other/fbx export/src/mainSkeletons.cpp new file mode 100644 index 00000000..e93dcb9a --- /dev/null +++ b/other/fbx export/src/mainSkeletons.cpp @@ -0,0 +1,312 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + + +#include +#include + +#include "Common.h" +#include "utils.hpp" + +using namespace sl; + +// Struct that holds skeleton data +struct SkeletonHandler { + FbxNode* root; + std::vector joints; +}; + +void parseArgs(int argc, char** argv, sl::InitParameters& param); +SkeletonHandler CreateSkeleton(FbxScene* pScene); + +int main(int argc, char **argv) { + // Create a ZED camera object + sl::Camera zed; + + // Set configuration parameters + sl::InitParameters init_parameters; + init_parameters.camera_resolution = sl::RESOLUTION::HD1080; + init_parameters.camera_fps = 30; + // The FBX Scene axis and unit are right handed, Y-Up and Centimeter. Do not change these parameters. + init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; + init_parameters.coordinate_units = UNIT::CENTIMETER; + + init_parameters.depth_mode = sl::DEPTH_MODE::ULTRA; + + parseArgs(argc, argv, init_parameters); + + // Open the camera + auto returned_state = zed.open(init_parameters); + if (returned_state != sl::ERROR_CODE::SUCCESS) { + std::cout << "Error " << returned_state << ", exit program.\n"; + return EXIT_FAILURE; + } + + // Enable positional tracking + PositionalTrackingParameters tracking_parameters; + tracking_parameters.enable_area_memory = false; + tracking_parameters.enable_pose_smoothing = true; + + // Enable this parameter to align the tracking with the floor plane position. + // It is recommended not to disable it unless you know what you are doing. + tracking_parameters.set_floor_as_origin = true; + returned_state = zed.enablePositionalTracking(tracking_parameters); + + if (returned_state != sl::ERROR_CODE::SUCCESS) { + std::cout << "Error " << returned_state << ", exit program.\n"; + return EXIT_FAILURE; + } + + // Enable the Objects detection module + sl::ObjectDetectionParameters obj_det_params; + // Tracking is mandatory, do not disable it. + obj_det_params.enable_tracking = true; + obj_det_params.enable_body_fitting = true; + // Do not change this parameter, the FBX export expects 34 bones, it is not compatible with 18 + obj_det_params.body_format = sl::BODY_FORMAT::POSE_34; + + // Only HUMAN_BODY_X models are compatible. + obj_det_params.detection_model = sl::DETECTION_MODEL::HUMAN_BODY_FAST; + returned_state = zed.enableObjectDetection(obj_det_params); + if (returned_state != sl::ERROR_CODE::SUCCESS) { + std::cout << "Error enable OD" << returned_state << ", exit program.\n"; + zed.close(); + return EXIT_FAILURE; + } + + FbxManager* fbx_manager = nullptr; + FbxScene* fbx_scene = nullptr; + // Prepare the FBX SDK. + InitializeSdkObjects(fbx_manager, fbx_scene); + + bool has_started = false; + sl::Timestamp ts_start = sl::Timestamp(0); + sl::RuntimeParameters rt_params; + rt_params.measure3D_reference_frame = sl::REFERENCE_FRAME::WORLD; + + // Configure object detection runtime parameters + sl::ObjectDetectionRuntimeParameters objectTracker_parameters_rt; + objectTracker_parameters_rt.detection_confidence_threshold = 70; + + // Create ZED Objects filled in the main loop + sl::Objects bodies; + + // Create countdown + int counter = 3; //duration of the countdown + std::cout << "FBX Export tool ... " << std::endl; + while (counter >= 1) + { + std::cout << "\r Start recording in : " << counter - 1 << " sec" << std::flush; + sl::sleep_ms(1000); + counter--; + } + std::cout << std::endl; + std::cout << "Recording ... use Ctrl-C to stop." << std::endl; + SetCtrlHandler(); + + FbxTime time; + int key_index = 0; + + sl::ERROR_CODE err = sl::ERROR_CODE::FAILURE; + + // Create skeleton hierarchy + SkeletonHandler skeleton = CreateSkeleton(fbx_scene); + FbxNode* root_node = fbx_scene->GetRootNode(); + // Add skeleton in the Scene + root_node->AddChild(skeleton.root); + + // List of all anim layers, in case there are multiple skeletons in the scene + std::map animLayers; + + std::vector vec_str_component = {FBXSDK_CURVENODE_COMPONENT_X, FBXSDK_CURVENODE_COMPONENT_Y, FBXSDK_CURVENODE_COMPONENT_Z}; + + // Main loop + while (!exit_app) { + err = zed.grab(rt_params); + if (err == sl::ERROR_CODE::SUCCESS) { + // Retrieve Detected Human Bodies + zed.retrieveObjects(bodies, objectTracker_parameters_rt); + + if (!has_started) { + ts_start = bodies.timestamp; + has_started = true; + } + + // Compute animation timestamp + sl::Timestamp ts_ms = (bodies.timestamp - ts_start).getMilliseconds(); + time.SetMilliSeconds(ts_ms); + + // For each detection + for (int i = 0; i < bodies.object_list.size(); i++) { + sl::ObjectData obj = bodies.object_list[i]; + // Create a new animLayer if it is a new detection + if (animLayers.find(obj.id) == animLayers.end()) + { + FbxAnimStack* anim_stack = FbxAnimStack::Create(fbx_scene, ("Anim Stack ID " + std::to_string(obj.id)).c_str()); + // Create the base layer (this is mandatory) + FbxAnimLayer* anim_base_layer = FbxAnimLayer::Create(fbx_scene, ("Base Layer " + std::to_string(obj.id)).c_str()); + anim_stack->AddMember(anim_base_layer); + animLayers[obj.id] = anim_base_layer; + } + + auto anim_id = animLayers[obj.id]; + + // For each keypoint + for (int j = 0; j < skeleton.joints.size(); j++) { + auto joint = skeleton.joints[j]; + sl::Orientation lcl_rotation = sl::Orientation(obj.local_orientation_per_joint[j]); + + // Set translation of the root (first joint) + if (j == 0) { + sl::float3 rootPosition = obj.keypoint[0]; + joint->LclTranslation.GetCurveNode(anim_id, true); + + for(int t = 0; t<3; t++){ + FbxAnimCurve* lCurve = joint->LclTranslation.GetCurve(anim_id, vec_str_component[t].c_str(), true); + if (lCurve) { + lCurve->KeyModifyBegin(); + key_index = lCurve->KeyAdd(time); + lCurve->KeySet(key_index, + time, + rootPosition.v[t], + FbxAnimCurveDef::eInterpolationConstant); + lCurve->KeyModifyEnd(); + } + } + // Use global rotation for the root + lcl_rotation = sl::Orientation(obj.global_root_orientation); + } + + // Convert rotation to euler angles + FbxQuaternion quat = FbxQuaternion(lcl_rotation.x, lcl_rotation.y, lcl_rotation.z, lcl_rotation.w); + FbxVector4 rota_euler; + rota_euler.SetXYZ(quat); + + // Set local rotation of the joint + for(int r = 0; r<3; r++){ + FbxAnimCurve* lCurve = joint->LclRotation.GetCurve(anim_id, vec_str_component[r].c_str(), true); + if (lCurve) { + lCurve->KeyModifyBegin(); + key_index = lCurve->KeyAdd(time); + lCurve->KeySet(key_index, + time, + rota_euler[r], + FbxAnimCurveDef::eInterpolationConstant); + lCurve->KeyModifyEnd(); + } + } + } + } + } + else { + exit_app = true; + } + } + + bodies.object_list.clear(); + // Disable modules + zed.disableObjectDetection(); + // Disable positional tracking and close the camera + zed.disablePositionalTracking(); + zed.close(); + + // Save the scene. + std::string sampleFileName = "ZedSkeletons.fbx"; + auto result = SaveScene(fbx_manager, fbx_scene, sampleFileName.c_str(), 0 /*save as binary*/); + DestroySdkObjects(fbx_manager, result); + + if (result == false) { + FBXSDK_printf("\n\nAn error occurred while saving the scene...\n"); + return EXIT_FAILURE; + }else + return EXIT_SUCCESS; +} + + +// Create Skeleton node hierarchy based on sl::BODY_FORMAT::POSE_34 body format. +SkeletonHandler CreateSkeleton(FbxScene* pScene) { + FbxNode* reference_node = FbxNode::Create(pScene, ("Skeleton")); + SkeletonHandler skeleton; + for (int i = 0; i < static_cast(sl::BODY_PARTS_POSE_34::LAST); i++) { + FbxString joint_name; + joint_name = sl::toString(static_cast(i)).c_str(); + FbxSkeleton* skeleton_node_attribute = FbxSkeleton::Create(pScene, joint_name); + skeleton_node_attribute->SetSkeletonType(FbxSkeleton::eLimbNode); + skeleton_node_attribute->Size.Set(1.0); + FbxNode* skeleton_node = FbxNode::Create(pScene, joint_name.Buffer()); + skeleton_node->SetNodeAttribute(skeleton_node_attribute); + + FbxDouble3 tr(local_joints_translations[i].x, local_joints_translations[i].y, local_joints_translations[i].z); + skeleton_node->LclTranslation.Set(tr); + + skeleton.joints.push_back(skeleton_node); + } + + reference_node->AddChild(skeleton.joints[0]); + + // Build skeleton node hierarchy. + for (int i = 0; i < skeleton.joints.size(); i++) { + for (int j = 0; j < childenIdx[i].size(); j++) + skeleton.joints[i]->AddChild(skeleton.joints[childenIdx[i][j]]); + } + + skeleton.root = reference_node; + + return skeleton; +} + +void parseArgs(int argc, char** argv, sl::InitParameters& param) { + if (argc > 1 && std::string(argv[1]).find(".svo") != std::string::npos) { + // SVO input mode + param.input.setFromSVOFile(argv[1]); + std::cout << "[Sample] Using SVO File input: " << argv[1] << std::endl; + } + else if (argc > 1 && std::string(argv[1]).find(".svo") == std::string::npos) { + std::string arg = std::string(argv[1]); + unsigned int a, b, c, d, port; + if (sscanf(arg.c_str(), "%u.%u.%u.%u:%d", &a, &b, &c, &d, &port) == 5) { + // Stream input mode - IP + port + std::string ip_adress = std::to_string(a) + "." + std::to_string(b) + "." + std::to_string(c) + "." + std::to_string(d); + param.input.setFromStream(sl::String(ip_adress.c_str()), port); + std::cout << "[Sample] Using Stream input, IP : " << ip_adress << ", port : " << port << std::endl; + } + else if (sscanf(arg.c_str(), "%u.%u.%u.%u", &a, &b, &c, &d) == 4) { + // Stream input mode - IP only + param.input.setFromStream(sl::String(argv[1])); + std::cout << "[Sample] Using Stream input, IP : " << argv[1] << std::endl; + } + else if (arg.find("HD2K") != std::string::npos) { + param.camera_resolution = sl::RESOLUTION::HD2K; + std::cout << "[Sample] Using Camera in resolution HD2K" << std::endl; + } + else if (arg.find("HD1080") != std::string::npos) { + param.camera_resolution = sl::RESOLUTION::HD1080; + std::cout << "[Sample] Using Camera in resolution HD1080" << std::endl; + } + else if (arg.find("HD720") != std::string::npos) { + param.camera_resolution = sl::RESOLUTION::HD720; + std::cout << "[Sample] Using Camera in resolution HD720" << std::endl; + } + else if (arg.find("VGA") != std::string::npos) { + param.camera_resolution = sl::RESOLUTION::VGA; + std::cout << "[Sample] Using Camera in resolution VGA" << std::endl; + } + } +} diff --git a/other/opengl gpu interop/CMakeLists.txt b/other/opengl gpu interop/CMakeLists.txt index 06e87fd1..32aeb00e 100644 --- a/other/opengl gpu interop/CMakeLists.txt +++ b/other/opengl gpu interop/CMakeLists.txt @@ -19,7 +19,7 @@ find_package(GLUT REQUIRED) find_package(GLEW REQUIRED) include_directories(${ZED_INCLUDE_DIRS}) -include_directories(${GLUT_INCLUDE_PATH}) +include_directories(${GLUT_INCLUDE_DIR}) include_directories(${GLEW_INCLUDE_DIRS}) include_directories(${OPENGL_INCLUDE_DIRS}) include_directories(${CUDA_INCLUDE_DIRS}) diff --git a/plane detection/floor plane/cpp/CMakeLists.txt b/plane detection/floor plane/cpp/CMakeLists.txt new file mode 100644 index 00000000..15a390c9 --- /dev/null +++ b/plane detection/floor plane/cpp/CMakeLists.txt @@ -0,0 +1,54 @@ +CMAKE_MINIMUM_REQUIRED(VERSION 3.5) +PROJECT(ZED_Floor_Plane_Detection) + +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +SET(CMAKE_BUILD_TYPE "Release") + +option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON) + +if (NOT LINK_SHARED_ZED AND MSVC) + message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows") +endif() + +find_package(ZED 3 REQUIRED) +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +find_package(GLUT REQUIRED) +find_package(GLEW REQUIRED) +SET(OpenGL_GL_PREFERENCE GLVND) +find_package(OpenGL REQUIRED) + +include_directories(${ZED_INCLUDE_DIRS}) +include_directories(${GLUT_INCLUDE_DIR}) +include_directories(${GLEW_INCLUDE_DIRS}) +include_directories(${OPENGL_INCLUDE_DIRS}) +include_directories(${CUDA_INCLUDE_DIRS}) +include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include) + +link_directories(${ZED_LIBRARY_DIR}) +link_directories(${CUDA_LIBRARY_DIRS}) +link_directories(${GLUT_LIBRARY_DIRS}) +link_directories(${GLEW_LIBRARY_DIRS}) +link_directories(${OpenGL_LIBRARY_DIRS}) + +FILE(GLOB_RECURSE SRC_FILES src/*.cpp) +FILE(GLOB_RECURSE HDR_FILES include/*.hpp) + +ADD_EXECUTABLE(${PROJECT_NAME} ${HDR_FILES} ${SRC_FILES}) + +if (LINK_SHARED_ZED) + SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) +else() + SET(ZED_LIBS ${ZED_STATIC_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARY}) +endif() + +TARGET_LINK_LIBRARIES(${PROJECT_NAME} + ${ZED_LIBS} + ${OPENGL_LIBRARIES} + ${GLUT_LIBRARY} + ${GLEW_LIBRARIES}) + +if(INSTALL_SAMPLES) + LIST(APPEND SAMPLE_LIST ${PROJECT_NAME}) + SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE) +endif() \ No newline at end of file diff --git a/plane detection/floor plane/cpp/include/GLViewer.hpp b/plane detection/floor plane/cpp/include/GLViewer.hpp new file mode 100644 index 00000000..e98848b4 --- /dev/null +++ b/plane detection/floor plane/cpp/include/GLViewer.hpp @@ -0,0 +1,309 @@ +#ifndef __VIEWER_INCLUDE__ +#define __VIEWER_INCLUDE__ + +#include +#include + +#include + +#include +#include + +#include +#include + + +#ifndef M_PI +#define M_PI 3.141592653f +#endif + +#define MOUSE_R_SENSITIVITY 0.03f +#define MOUSE_UZ_SENSITIVITY 0.5f +#define MOUSE_DZ_SENSITIVITY 1.25f +#define MOUSE_T_SENSITIVITY 0.05f +#define KEY_T_SENSITIVITY 0.1f + +// 3D + +class CameraGL { +public: + + CameraGL() { + } + + enum DIRECTION { + UP, DOWN, LEFT, RIGHT, FORWARD, BACK + }; + CameraGL(sl::Translation position, sl::Translation direction, sl::Translation vertical = sl::Translation(0, 1, 0)); // vertical = Eigen::Vector3f(0, 1, 0) + ~CameraGL(); + + void update(); + void setProjection(float horizontalFOV, float verticalFOV, float znear, float zfar); + const sl::Transform& getViewProjectionMatrix() const; + + float getHorizontalFOV() const; + float getVerticalFOV() const; + + // Set an offset between the eye of the camera and its position + // Note: Useful to use the camera as a trackball camera with z>0 and x = 0, y = 0 + // Note: coordinates are in local space + void setOffsetFromPosition(const sl::Translation& offset); + const sl::Translation& getOffsetFromPosition() const; + + void setDirection(const sl::Translation& direction, const sl::Translation &vertical); + void translate(const sl::Translation& t); + void setPosition(const sl::Translation& p); + void rotate(const sl::Orientation& rot); + void rotate(const sl::Rotation& m); + void setRotation(const sl::Orientation& rot); + void setRotation(const sl::Rotation& m); + + const sl::Translation& getPosition() const; + const sl::Translation& getForward() const; + const sl::Translation& getRight() const; + const sl::Translation& getUp() const; + const sl::Translation& getVertical() const; + float getZNear() const; + float getZFar() const; + + static const sl::Translation ORIGINAL_FORWARD; + static const sl::Translation ORIGINAL_UP; + static const sl::Translation ORIGINAL_RIGHT; + + sl::Transform projection_; + bool usePerspective_; +private: + void updateVectors(); + void updateView(); + void updateVPMatrix(); + + sl::Translation offset_; + sl::Translation position_; + sl::Translation forward_; + sl::Translation up_; + sl::Translation right_; + sl::Translation vertical_; + + sl::Orientation rotation_; + + sl::Transform view_; + sl::Transform vpMatrix_; + float horizontalFieldOfView_; + float verticalFieldOfView_; + float znear_; + float zfar_; +}; + +class Shader { +public: + + Shader() { + } + Shader(GLchar* vs, GLchar* fs); + ~Shader(); + GLuint getProgramId(); + + static const GLint ATTRIB_VERTICES_POS = 0; + static const GLint ATTRIB_COLOR_POS = 1; +private: + bool compile(GLuint &shaderId, GLenum type, GLchar* src); + GLuint verterxId_; + GLuint fragmentId_; + GLuint programId_; +}; + +struct ShaderData { + Shader it; + GLuint MVP_Mat; +}; + +class Simple3DObject { +public: + + Simple3DObject() { + } + Simple3DObject(sl::Translation position, bool isStatic); + ~Simple3DObject(); + + void addPt(sl::float3 pt); + void addClr(sl::float4 clr); + + void addPoint(sl::float3 pt, sl::float4 clr); + void addTriangle(sl::float3 p1, sl::float3 p2, sl::float3 p3, sl::float4 clr); + void addLine(sl::float3 p1, sl::float3 p2, sl::float4 clr); + + void pushToGPU(); + void clear(); + + void setDrawingType(GLenum type); + + void draw(); + + void translate(const sl::Translation& t); + void setPosition(const sl::Translation& p); + + void setRT(const sl::Transform& mRT); + + void rotate(const sl::Orientation& rot); + void rotate(const sl::Rotation& m); + void setRotation(const sl::Orientation& rot); + void setRotation(const sl::Rotation& m); + + const sl::Translation& getPosition() const; + + sl::Transform getModelMatrix() const; +private: + std::vector vertices_; + std::vector colors_; + std::vector indices_; + + bool isStatic_; + + GLenum drawingType_; + + GLuint vaoID_; + /* + Vertex buffer IDs: + - [0]: Vertices coordinates; + - [1]: Indices; + */ + GLuint vboID_[2]; + + sl::Translation position_; + sl::Orientation rotation_; +}; + +class ImageHandler { +public: + ImageHandler(); + ~ImageHandler(); + + // Initialize Opengl and Cuda buffers + bool initialize(sl::Resolution res); + // Push a new Image + Z buffer and transform into a point cloud + void pushNewImage(sl::Mat& image); + // Draw the Image + void draw(); + // Close (disable update) + void close(); + void reshape(int w, int h); + +private: + GLuint texID; + GLuint imageTex; + cudaGraphicsResource* cuda_gl_ressource;//cuda GL resource + Shader shader; + + bool init; + + GLuint vaoID_; + GLuint vboID_[3]; +}; + +class PointCloud { +public: + PointCloud(); + ~PointCloud(); + + // Initialize Opengl and Cuda buffers + // Warning: must be called in the Opengl thread + void initialize(sl::Resolution res); + // Push a new point cloud + // Warning: can be called from any thread but the mutex "mutexData" must be locked + void pushNewPC(sl::Mat &matXYZRGBA); + // Update the Opengl buffer + // Warning: must be called in the Opengl thread + void update(); + // Draw the point cloud + // Warning: must be called in the Opengl thread + void draw(const sl::Transform& vp); + // Close (disable update) + void close(); + +private: + sl::Mat matGPU_; + bool hasNewPCL_ = false; + ShaderData shader; + size_t numBytes_; + float* xyzrgbaMappedBuf_; + GLuint bufferGLID_; + cudaGraphicsResource* bufferCudaID_; +}; + +// This class manages input events, window and Opengl rendering pipeline + +class GLViewer { +public: + GLViewer(); + ~GLViewer(); + bool isAvailable(); + + void init(int argc, char **argv, sl::CameraParameters& param); + void updateData(sl::Mat& matXYZRGBA, sl::Transform &cam_pose); + void updateImage(sl::Mat& image); + + void exit(); +private: + // Rendering loop method called each frame by glutDisplayFunc + void render(); + // Everything that needs to be updated before rendering must be done in this method + void update(); + // Once everything is updated, every renderable objects must be drawn in this method + void draw(); + // Clear and refresh inputs' data + void clearInputs(); + + void printText(); + + // Glut functions callbacks + static void drawCallback(); + static void mouseButtonCallback(int button, int state, int x, int y); + static void mouseMotionCallback(int x, int y); + static void reshapeCallback(int width, int height); + static void keyPressedCallback(unsigned char c, int x, int y); + static void keyReleasedCallback(unsigned char c, int x, int y); + static void idle(); + + bool available; + + enum MOUSE_BUTTON { + LEFT = 0, + MIDDLE = 1, + RIGHT = 2, + WHEEL_UP = 3, + WHEEL_DOWN = 4 + }; + + enum KEY_STATE { + UP = 'u', + DOWN = 'd', + FREE = 'f' + }; + + bool floorFind = false; + + bool mouseButton_[3]; + int mouseWheelPosition_; + int mouseCurrentPosition_[2]; + int mouseMotion_[2]; + int previousMouseMotion_[2]; + KEY_STATE keyStates_[256]; + + std::mutex mtx; + + PointCloud pointCloud_; + ImageHandler image_handler; + CameraGL camera_; + + sl::float4 bckgrnd_clr; + sl::Transform cam_pose; + + ShaderData shaderLine; + ShaderData shader; + + Simple3DObject frustum; + Simple3DObject world_ref; + Simple3DObject floor_grid; +}; + +#endif /* __VIEWER_INCLUDE__ */ diff --git a/plane detection/floor plane/cpp/src/GLViewer.cpp b/plane detection/floor plane/cpp/src/GLViewer.cpp new file mode 100644 index 00000000..b3db396d --- /dev/null +++ b/plane detection/floor plane/cpp/src/GLViewer.cpp @@ -0,0 +1,986 @@ +#include "GLViewer.hpp" +#include + + +#if defined(_DEBUG) && defined(_WIN32) +//#error "This sample should not be built in Debug mode, use RelWithDebInfo if you want to do step by step." +#endif + +#define FADED_RENDERING +const float grid_size = 10.0f; + +GLchar* VERTEX_SHADER = +"#version 330 core\n" +"layout(location = 0) in vec3 in_Vertex;\n" +"layout(location = 1) in vec4 in_Color;\n" +"uniform mat4 u_mvpMatrix;\n" +"out vec4 b_color;\n" +"void main() {\n" +" b_color = in_Color;\n" +" gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n" +"}"; + +GLchar* FRAGMENT_SHADER = +"#version 330 core\n" +"in vec4 b_color;\n" +"layout(location = 0) out vec4 out_Color;\n" +"void main() {\n" +" out_Color = b_color;\n" +"}"; + +void addVert(Simple3DObject &obj, float i_f, float limit, float height, sl::float4 &clr) { + auto p1 = sl::float3(i_f, height, -limit); + auto p2 = sl::float3(i_f, height, limit); + auto p3 = sl::float3(-limit, height, i_f); + auto p4 = sl::float3(limit, height, i_f); + + obj.addLine(p1, p2, clr); + obj.addLine(p3, p4, clr); +} + +GLViewer* currentInstance_ = nullptr; + +GLViewer::GLViewer() : available(false) { + currentInstance_ = this; + mouseButton_[0] = mouseButton_[1] = mouseButton_[2] = false; + clearInputs(); + previousMouseMotion_[0] = previousMouseMotion_[1] = 0; +} + +GLViewer::~GLViewer() {} + +void GLViewer::exit() { + if (available) { + available = false; + pointCloud_.close(); + image_handler.close(); + } +} + +bool GLViewer::isAvailable() { + if (available) + glutMainLoopEvent(); + return available; +} + +Simple3DObject createFrustum(sl::CameraParameters param) { + + // Create 3D axis + Simple3DObject it(sl::Translation(0, 0, 0), true); + + float Z_ = -150; + sl::float3 cam_0(0, 0, 0); + sl::float3 cam_1, cam_2, cam_3, cam_4; + + float fx_ = 1.f / param.fx; + float fy_ = 1.f / param.fy; + + cam_1.z = Z_; + cam_1.x = (0 - param.cx) * Z_ *fx_; + cam_1.y = (0 - param.cy) * Z_ *fy_; + + cam_2.z = Z_; + cam_2.x = (param.image_size.width - param.cx) * Z_ *fx_; + cam_2.y = (0 - param.cy) * Z_ *fy_; + + cam_3.z = Z_; + cam_3.x = (param.image_size.width - param.cx) * Z_ *fx_; + cam_3.y = (param.image_size.height - param.cy) * Z_ *fy_; + + cam_4.z = Z_; + cam_4.x = (0 - param.cx) * Z_ *fx_; + cam_4.y = (param.image_size.height - param.cy) * Z_ *fy_; + + sl::float4 clr(0.8f, 0.5f, 0.2f, 1.0f); + it.addTriangle(cam_0, cam_1, cam_2, clr); + it.addTriangle(cam_0, cam_2, cam_3, clr); + it.addTriangle(cam_0, cam_3, cam_4, clr); + it.addTriangle(cam_0, cam_4, cam_1, clr); + + it.setDrawingType(GL_TRIANGLES); + return it; +} + +void CloseFunc(void) { + if (currentInstance_) + currentInstance_->exit(); +} + +void GLViewer::init(int argc, char **argv, sl::CameraParameters ¶m) { + glutInit(&argc, argv); + int wnd_w = glutGet(GLUT_SCREEN_WIDTH); + int wnd_h = glutGet(GLUT_SCREEN_HEIGHT); + + glutInitWindowSize(1200, 700); + glutInitWindowPosition(wnd_w * 0.05, wnd_h * 0.05); + glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH); + glutCreateWindow("ZED Object Detection"); + + GLenum err = glewInit(); + if (GLEW_OK != err) + std::cout << "ERROR: glewInit failed: " << glewGetErrorString(err) << "\n"; + + glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_CONTINUE_EXECUTION); + glEnable(GL_DEPTH_TEST); + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + glEnable(GL_LINE_SMOOTH); + glHint(GL_LINE_SMOOTH_HINT, GL_NICEST); + + pointCloud_.initialize(param.image_size); + + + bool status_ = image_handler.initialize(param.image_size); + if (!status_) + std::cout << "ERROR: Failed to initialized Image Renderer" << std::endl; + + image_handler.reshape(wnd_w, wnd_h); + + + + floorFind = false; + + // Compile and create the shader + shader.it = Shader(VERTEX_SHADER, FRAGMENT_SHADER); + shader.MVP_Mat = glGetUniformLocation(shader.it.getProgramId(), "u_mvpMatrix"); + + shaderLine.it = Shader(VERTEX_SHADER, FRAGMENT_SHADER); + shaderLine.MVP_Mat = glGetUniformLocation(shaderLine.it.getProgramId(), "u_mvpMatrix"); + + // Create the camera + camera_ = CameraGL(sl::Translation(0, 0, 1000), sl::Translation(0, 0, -100)); + + frustum = createFrustum(param); + frustum.pushToGPU(); + + bckgrnd_clr = sl::float4(0.2f, 0.19f, 0.2f, 1.0f); + + floor_grid = Simple3DObject(sl::Translation(0, 0, 0), true); + floor_grid.setDrawingType(GL_LINES); + + float limit = 20.f; + sl::float4 clr_grid(80, 80, 80, 255); + clr_grid /= 255.f; + for (int i = (int)(-limit); i <= (int)(limit); i++) + addVert(floor_grid, i * 1000, limit * 1000,0, clr_grid); + floor_grid.pushToGPU(); + + world_ref = Simple3DObject(sl::Translation(0, 0, 0), true); + world_ref.setDrawingType(GL_LINES); + sl::float3 w_ref(0, 0, 0); + world_ref.addLine(w_ref, sl::float3(1 * 500, 0, 0), sl::float4(0.8, 0.1, 0.1, 1)); + world_ref.addLine(w_ref, sl::float3(0, 1 * 500, 0), sl::float4(0.1, 0.8, 0.1, 1)); + world_ref.addLine(w_ref, sl::float3(0, 0, 1 * 500), sl::float4(0.1, 0.1, 0.8, 1)); + world_ref.pushToGPU(); + + // Map glut function on this class methods + glutDisplayFunc(GLViewer::drawCallback); + glutMouseFunc(GLViewer::mouseButtonCallback); + glutMotionFunc(GLViewer::mouseMotionCallback); + glutReshapeFunc(GLViewer::reshapeCallback); + glutKeyboardFunc(GLViewer::keyPressedCallback); + glutKeyboardUpFunc(GLViewer::keyReleasedCallback); + glutCloseFunc(CloseFunc); + + available = true; +} + +void GLViewer::render() { + if (available) { + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glClearColor(bckgrnd_clr.b, bckgrnd_clr.g, bckgrnd_clr.r, bckgrnd_clr.a); + update(); + draw(); + printText(); + glutSwapBuffers(); + glutPostRedisplay(); + } +} + +void GLViewer::updateData(sl::Mat &matXYZRGBA, sl::Transform& pose) { + const std::lock_guard lock(mtx); + pointCloud_.pushNewPC(matXYZRGBA); + cam_pose = pose; + floorFind = true; +} + +void GLViewer::updateImage(sl::Mat& image) { + image_handler.pushNewImage(image); +} + +void GLViewer::update() { + if (keyStates_['q'] == KEY_STATE::UP || keyStates_['Q'] == KEY_STATE::UP || keyStates_[27] == KEY_STATE::UP) { + currentInstance_->exit(); + return; + } + + if (keyStates_['r'] == KEY_STATE::UP || keyStates_['R'] == KEY_STATE::UP) { + camera_.setPosition(sl::Translation(0.0f, 0.0f, 1500.0f)); + //camera_.setOffsetFromPosition(sl::Translation(0.0f, 0.0f, 1500.0f)); + camera_.setDirection(sl::Translation(0.0f, 0.0f, 1.0f), sl::Translation(0.0f, 1.0f, 0.0f)); + } + + if (keyStates_['t'] == KEY_STATE::UP || keyStates_['T'] == KEY_STATE::UP) { + camera_.setPosition(sl::Translation(0.0f, 0.0f, 1500.0f)); + camera_.setOffsetFromPosition(sl::Translation(0.0f, 0.0f, 6000.0f)); + camera_.translate(sl::Translation(0.0f, 1500.0f, -4000.0f)); + camera_.setDirection(sl::Translation(0.0f, -1.0f, 0.0f), sl::Translation(0.0f, 1.0f, 0.0f)); + } + + // Rotate camera with mouse + if (mouseButton_[MOUSE_BUTTON::LEFT]) { + camera_.rotate(sl::Rotation((float)mouseMotion_[1] * MOUSE_R_SENSITIVITY, camera_.getRight())); + camera_.rotate(sl::Rotation((float)mouseMotion_[0] * MOUSE_R_SENSITIVITY, camera_.getVertical() * -1.f)); + } + + // Translate camera with mouse + if (mouseButton_[MOUSE_BUTTON::RIGHT]) { + camera_.translate(camera_.getUp() * (float)mouseMotion_[1] * MOUSE_T_SENSITIVITY * 1000); + camera_.translate(camera_.getRight() * (float)mouseMotion_[0] * MOUSE_T_SENSITIVITY * 1000); + } + + // Zoom in with mouse wheel + if (mouseWheelPosition_ != 0) { + //float distance = sl::Translation(camera_.getOffsetFromPosition()).norm(); + if (mouseWheelPosition_ > 0 /* && distance > camera_.getZNear()*/) { // zoom + camera_.translate(camera_.getForward() * MOUSE_UZ_SENSITIVITY * 1000 * -1); + } + else if (/*distance < camera_.getZFar()*/ mouseWheelPosition_ < 0) {// unzoom + //camera_.setOffsetFromPosition(camera_.getOffsetFromPosition() * MOUSE_DZ_SENSITIVITY); + camera_.translate(camera_.getForward() * MOUSE_UZ_SENSITIVITY * 1000); + } + } + + camera_.update(); + mtx.lock(); + // Update point cloud buffers + pointCloud_.update(); + mtx.unlock(); + clearInputs(); +} + +void GLViewer::draw() { + glEnable(GL_DEPTH_TEST); + sl::Transform vpMatrix = camera_.getViewProjectionMatrix(); + glUseProgram(shaderLine.it.getProgramId()); + glUniformMatrix4fv(shaderLine.MVP_Mat, 1, GL_TRUE, vpMatrix.m); + glLineWidth(1.f); + floor_grid.draw(); + world_ref.draw(); + glUseProgram(0); + + if (floorFind) { + glPointSize(1.f); + + pointCloud_.draw(vpMatrix); + + glUseProgram(shader.it.getProgramId()); + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + + // Apply IMU Rotation compensation + vpMatrix = vpMatrix * cam_pose; + + glUniformMatrix4fv(shader.MVP_Mat, 1, GL_TRUE, vpMatrix.m); + glLineWidth(2.f); + frustum.draw(); + glUseProgram(0); + } + + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + image_handler.draw(); +} + +sl::float2 compute3Dprojection(sl::float3 &pt, const sl::Transform &cam, sl::Resolution wnd_size) { + sl::float4 pt4d(pt.x, pt.y, pt.z, 1.); + auto proj3D_cam = pt4d * cam; + proj3D_cam.y += 1000.f; + sl::float2 proj2D; + proj2D.x = ((proj3D_cam.x / pt4d.w) * wnd_size.width) / (2.f * proj3D_cam.w) + wnd_size.width / 2.f; + proj2D.y = ((proj3D_cam.y / pt4d.w) * wnd_size.height) / (2.f * proj3D_cam.w) + wnd_size.height / 2.f; + return proj2D; +} + +static void safe_glutBitmapString(void* font, const char* str) { + for (size_t x = 0; x < strlen(str); ++x) + glutBitmapCharacter(font, str[x]); +} + +void GLViewer::printText() { + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + glLoadIdentity(); + int w_wnd = glutGet(GLUT_WINDOW_WIDTH); + int h_wnd = glutGet(GLUT_WINDOW_HEIGHT); + glOrtho(0, w_wnd, 0, h_wnd, -1.0f, 1.0f); + + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadIdentity(); + + int start_w = 20; + int start_h = h_wnd - 40; + + floorFind ? glColor3f(0.2f, 0.65f, 0.2f) : glColor3f(0.85f, 0.2f, 0.2f); + glRasterPos2i(start_w, start_h); + std::string _str = floorFind ? std::string("FLOOR PLANE FOUND, WORLD REFERENCE IS SET") : std::string("LOOKING FOR FLOOR PLANE, move around"); + safe_glutBitmapString(GLUT_BITMAP_HELVETICA_18, _str.c_str()); + + glMatrixMode(GL_PROJECTION); + glPopMatrix(); + glMatrixMode(GL_MODELVIEW); + glPopMatrix(); +} + +void GLViewer::clearInputs() { + mouseMotion_[0] = mouseMotion_[1] = 0; + mouseWheelPosition_ = 0; + for (unsigned int i = 0; i < 256; ++i) + if (keyStates_[i] != KEY_STATE::DOWN) + keyStates_[i] = KEY_STATE::FREE; +} + +void GLViewer::drawCallback() { + currentInstance_->render(); +} + +void GLViewer::mouseButtonCallback(int button, int state, int x, int y) { + if (button < 5) { + if (button < 3) { + currentInstance_->mouseButton_[button] = state == GLUT_DOWN; + } + else { + currentInstance_->mouseWheelPosition_ += button == MOUSE_BUTTON::WHEEL_UP ? 1 : -1; + } + currentInstance_->mouseCurrentPosition_[0] = x; + currentInstance_->mouseCurrentPosition_[1] = y; + currentInstance_->previousMouseMotion_[0] = x; + currentInstance_->previousMouseMotion_[1] = y; + } +} + +void GLViewer::mouseMotionCallback(int x, int y) { + currentInstance_->mouseMotion_[0] = x - currentInstance_->previousMouseMotion_[0]; + currentInstance_->mouseMotion_[1] = y - currentInstance_->previousMouseMotion_[1]; + currentInstance_->previousMouseMotion_[0] = x; + currentInstance_->previousMouseMotion_[1] = y; +} + +void GLViewer::reshapeCallback(int width, int height) { + glViewport(0, 0, width, height); + currentInstance_->image_handler.reshape(width, height); + float hfov = (180.0f / M_PI) * (2.0f * atan(width / (2.0f * 500))); + float vfov = (180.0f / M_PI) * (2.0f * atan(height / (2.0f * 500))); + currentInstance_->camera_.setProjection(hfov, vfov, currentInstance_->camera_.getZNear(), currentInstance_->camera_.getZFar()); +} + +void GLViewer::keyPressedCallback(unsigned char c, int x, int y) { + currentInstance_->keyStates_[c] = KEY_STATE::DOWN; +} + +void GLViewer::keyReleasedCallback(unsigned char c, int x, int y) { + currentInstance_->keyStates_[c] = KEY_STATE::UP; +} + +void GLViewer::idle() { + glutPostRedisplay(); +} + +Simple3DObject::Simple3DObject(sl::Translation position, bool isStatic) : isStatic_(isStatic) { + vaoID_ = 0; + drawingType_ = GL_TRIANGLES; + position_ = position; + rotation_.setIdentity(); +} + +Simple3DObject::~Simple3DObject() { + if (vaoID_ != 0) { + glDeleteBuffers(3, vboID_); + glDeleteVertexArrays(1, &vaoID_); + } +} + +void Simple3DObject::addPt(sl::float3 pt) { + vertices_.push_back(pt.x); + vertices_.push_back(pt.y); + vertices_.push_back(pt.z); +} + +void Simple3DObject::addClr(sl::float4 clr) { + colors_.push_back(clr.b); + colors_.push_back(clr.g); + colors_.push_back(clr.r); + colors_.push_back(clr.a); +} + +void Simple3DObject::addPoint(sl::float3 pt, sl::float4 clr) { + addPt(pt); + addClr(clr); + indices_.push_back((int)indices_.size()); +} + +void Simple3DObject::addLine(sl::float3 p1, sl::float3 p2, sl::float4 clr) { + addPoint(p1, clr); + addPoint(p2, clr); +} + +void Simple3DObject::addTriangle(sl::float3 p1, sl::float3 p2, sl::float3 p3, sl::float4 clr) { + addPoint(p1, clr); + addPoint(p2, clr); + addPoint(p3, clr); +} + +void Simple3DObject::pushToGPU() { + if (!isStatic_ || vaoID_ == 0) { + if (vaoID_ == 0) { + glGenVertexArrays(1, &vaoID_); + glGenBuffers(3, vboID_); + } + + if (vertices_.size() > 0) { + glBindVertexArray(vaoID_); + glBindBuffer(GL_ARRAY_BUFFER, vboID_[0]); + glBufferData(GL_ARRAY_BUFFER, vertices_.size() * sizeof(float), &vertices_[0], isStatic_ ? GL_STATIC_DRAW : GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 3, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); + } + + if (colors_.size() > 0) { + glBindBuffer(GL_ARRAY_BUFFER, vboID_[1]); + glBufferData(GL_ARRAY_BUFFER, colors_.size() * sizeof(float), &colors_[0], isStatic_ ? GL_STATIC_DRAW : GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_COLOR_POS, 4, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_COLOR_POS); + } + + if (indices_.size() > 0) { + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vboID_[2]); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices_.size() * sizeof(unsigned int), &indices_[0], isStatic_ ? GL_STATIC_DRAW : GL_DYNAMIC_DRAW); + } + + glBindVertexArray(0); + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + glBindBuffer(GL_ARRAY_BUFFER, 0); + } +} + +void Simple3DObject::clear() { + vertices_.clear(); + colors_.clear(); + indices_.clear(); +} + +void Simple3DObject::setDrawingType(GLenum type) { + drawingType_ = type; +} + +void Simple3DObject::draw() { + if (indices_.size() && vaoID_) { + glBindVertexArray(vaoID_); + glDrawElements(drawingType_, (GLsizei)indices_.size(), GL_UNSIGNED_INT, 0); + glBindVertexArray(0); + } +} + +void Simple3DObject::translate(const sl::Translation& t) { + position_ = position_ + t; +} + +void Simple3DObject::setPosition(const sl::Translation& p) { + position_ = p; +} + +void Simple3DObject::setRT(const sl::Transform& mRT) { + position_ = mRT.getTranslation(); + rotation_ = mRT.getOrientation(); +} + +void Simple3DObject::rotate(const sl::Orientation& rot) { + rotation_ = rot * rotation_; +} + +void Simple3DObject::rotate(const sl::Rotation& m) { + this->rotate(sl::Orientation(m)); +} + +void Simple3DObject::setRotation(const sl::Orientation& rot) { + rotation_ = rot; +} + +void Simple3DObject::setRotation(const sl::Rotation& m) { + this->setRotation(sl::Orientation(m)); +} + +const sl::Translation& Simple3DObject::getPosition() const { + return position_; +} + +sl::Transform Simple3DObject::getModelMatrix() const { + sl::Transform tmp; + tmp.setOrientation(rotation_); + tmp.setTranslation(position_); + return tmp; +} + +Shader::Shader(GLchar* vs, GLchar* fs) { + if (!compile(verterxId_, GL_VERTEX_SHADER, vs)) { + std::cout << "ERROR: while compiling vertex shader" << std::endl; + } + if (!compile(fragmentId_, GL_FRAGMENT_SHADER, fs)) { + std::cout << "ERROR: while compiling fragment shader" << std::endl; + } + + programId_ = glCreateProgram(); + + glAttachShader(programId_, verterxId_); + glAttachShader(programId_, fragmentId_); + + glBindAttribLocation(programId_, ATTRIB_VERTICES_POS, "in_vertex"); + glBindAttribLocation(programId_, ATTRIB_COLOR_POS, "in_texCoord"); + + glLinkProgram(programId_); + + GLint errorlk(0); + glGetProgramiv(programId_, GL_LINK_STATUS, &errorlk); + if (errorlk != GL_TRUE) { + std::cout << "ERROR: while linking Shader :" << std::endl; + GLint errorSize(0); + glGetProgramiv(programId_, GL_INFO_LOG_LENGTH, &errorSize); + + char *error = new char[errorSize + 1]; + glGetShaderInfoLog(programId_, errorSize, &errorSize, error); + error[errorSize] = '\0'; + std::cout << error << std::endl; + + delete[] error; + glDeleteProgram(programId_); + } +} + +Shader::~Shader() { + if (verterxId_ != 0) + glDeleteShader(verterxId_); + if (fragmentId_ != 0) + glDeleteShader(fragmentId_); + if (programId_ != 0) + glDeleteShader(programId_); +} + +GLuint Shader::getProgramId() { + return programId_; +} + +bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) { + shaderId = glCreateShader(type); + if (shaderId == 0) { + std::cout << "ERROR: shader type (" << type << ") does not exist" << std::endl; + return false; + } + glShaderSource(shaderId, 1, (const char**)&src, 0); + glCompileShader(shaderId); + + GLint errorCp(0); + glGetShaderiv(shaderId, GL_COMPILE_STATUS, &errorCp); + if (errorCp != GL_TRUE) { + std::cout << "ERROR: while compiling Shader :" << std::endl; + GLint errorSize(0); + glGetShaderiv(shaderId, GL_INFO_LOG_LENGTH, &errorSize); + + char *error = new char[errorSize + 1]; + glGetShaderInfoLog(shaderId, errorSize, &errorSize, error); + error[errorSize] = '\0'; + std::cout << error << std::endl; + + delete[] error; + glDeleteShader(shaderId); + return false; + } + return true; +} + +GLchar* POINTCLOUD_VERTEX_SHADER = +"#version 330 core\n" +"layout(location = 0) in vec4 in_VertexRGBA;\n" +"uniform mat4 u_mvpMatrix;\n" +"out vec4 b_color;\n" +"void main() {\n" +// Decompose the 4th channel of the XYZRGBA buffer to retrieve the color of the point (1float to 4uint) +" uint vertexColor = floatBitsToUint(in_VertexRGBA.w); \n" +" vec3 clr_int = vec3((vertexColor & uint(0x000000FF)), (vertexColor & uint(0x0000FF00)) >> 8, (vertexColor & uint(0x00FF0000)) >> 16);\n" +" b_color = vec4(clr_int.r / 255.0f, clr_int.g / 255.0f, clr_int.b / 255.0f, 1.f);" +" gl_Position = u_mvpMatrix * vec4(in_VertexRGBA.xyz, 1);\n" +"}"; + +GLchar* POINTCLOUD_FRAGMENT_SHADER = +"#version 330 core\n" +"in vec4 b_color;\n" +"layout(location = 0) out vec4 out_Color;\n" +"void main() {\n" +" out_Color = b_color;\n" +"}"; + +PointCloud::PointCloud() : hasNewPCL_(false) { +} + +PointCloud::~PointCloud() { + close(); +} + +void checkError(cudaError_t err) { + if (err != cudaSuccess) + std::cerr << "Error: (" << err << "): " << cudaGetErrorString(err) << std::endl; +} + +void PointCloud::close() { + if (matGPU_.isInit()) { + matGPU_.free(); + checkError(cudaGraphicsUnmapResources(1, &bufferCudaID_, 0)); + glDeleteBuffers(1, &bufferGLID_); + } +} + +void PointCloud::initialize(sl::Resolution res) { + glGenBuffers(1, &bufferGLID_); + glBindBuffer(GL_ARRAY_BUFFER, bufferGLID_); + glBufferData(GL_ARRAY_BUFFER, res.area() * 4 * sizeof(float), 0, GL_STATIC_DRAW); + glBindBuffer(GL_ARRAY_BUFFER, 0); + + checkError(cudaGraphicsGLRegisterBuffer(&bufferCudaID_, bufferGLID_, cudaGraphicsRegisterFlagsWriteDiscard)); + + shader.it = Shader(POINTCLOUD_VERTEX_SHADER, POINTCLOUD_FRAGMENT_SHADER); + shader.MVP_Mat = glGetUniformLocation(shader.it.getProgramId(), "u_mvpMatrix"); + + matGPU_.alloc(res, sl::MAT_TYPE::F32_C4, sl::MEM::GPU); + + checkError(cudaGraphicsMapResources(1, &bufferCudaID_, 0)); + checkError(cudaGraphicsResourceGetMappedPointer((void**)&xyzrgbaMappedBuf_, &numBytes_, bufferCudaID_)); +} + +void PointCloud::pushNewPC(sl::Mat &matXYZRGBA) { + if (matGPU_.isInit()) { + matGPU_.setFrom(matXYZRGBA, sl::COPY_TYPE::GPU_GPU); + hasNewPCL_ = true; + } +} + +void PointCloud::update() { + if (hasNewPCL_ && matGPU_.isInit()) { + checkError(cudaMemcpy(xyzrgbaMappedBuf_, matGPU_.getPtr(sl::MEM::GPU), numBytes_, cudaMemcpyDeviceToDevice)); + hasNewPCL_ = false; + } +} + +void PointCloud::draw(const sl::Transform& vp) { + if (matGPU_.isInit()) { + glUseProgram(shader.it.getProgramId()); + glUniformMatrix4fv(shader.MVP_Mat, 1, GL_TRUE, vp.m); + + glBindBuffer(GL_ARRAY_BUFFER, bufferGLID_); + glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 4, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); + + glDrawArrays(GL_POINTS, 0, matGPU_.getResolution().area()); + glBindBuffer(GL_ARRAY_BUFFER, 0); + glUseProgram(0); + } +} + +const sl::Translation CameraGL::ORIGINAL_FORWARD = sl::Translation(0, 0, 1); +const sl::Translation CameraGL::ORIGINAL_UP = sl::Translation(0, 1, 0); +const sl::Translation CameraGL::ORIGINAL_RIGHT = sl::Translation(1, 0, 0); + +CameraGL::CameraGL(sl::Translation position, sl::Translation direction, sl::Translation vertical) { + this->position_ = position; + setDirection(direction, vertical); + + offset_ = sl::Translation(0, 0, 0); + view_.setIdentity(); + updateView(); + setProjection(70, 70, 200.f, 50000.f); + updateVPMatrix(); +} + +CameraGL::~CameraGL() {} + +void CameraGL::update() { + if (sl::Translation::dot(vertical_, up_) < 0) + vertical_ = vertical_ * -1.f; + updateView(); + updateVPMatrix(); +} + +void CameraGL::setProjection(float horizontalFOV, float verticalFOV, float znear, float zfar) { + horizontalFieldOfView_ = horizontalFOV; + verticalFieldOfView_ = verticalFOV; + znear_ = znear; + zfar_ = zfar; + + float fov_y = verticalFOV * M_PI / 180.f; + float fov_x = horizontalFOV * M_PI / 180.f; + + projection_.setIdentity(); + projection_(0, 0) = 1.0f / tanf(fov_x * 0.5f); + projection_(1, 1) = 1.0f / tanf(fov_y * 0.5f); + projection_(2, 2) = -(zfar + znear) / (zfar - znear); + projection_(3, 2) = -1; + projection_(2, 3) = -(2.f * zfar * znear) / (zfar - znear); + projection_(3, 3) = 0; +} + +const sl::Transform& CameraGL::getViewProjectionMatrix() const { + return vpMatrix_; +} + +float CameraGL::getHorizontalFOV() const { + return horizontalFieldOfView_; +} + +float CameraGL::getVerticalFOV() const { + return verticalFieldOfView_; +} + +void CameraGL::setOffsetFromPosition(const sl::Translation& o) { + offset_ = o; +} + +const sl::Translation& CameraGL::getOffsetFromPosition() const { + return offset_; +} + +void CameraGL::setDirection(const sl::Translation& direction, const sl::Translation& vertical) { + sl::Translation dirNormalized = direction; + dirNormalized.normalize(); + this->rotation_ = sl::Orientation(ORIGINAL_FORWARD, dirNormalized * -1.f); + updateVectors(); + this->vertical_ = vertical; + if (sl::Translation::dot(vertical_, up_) < 0) + rotate(sl::Rotation(M_PI, ORIGINAL_FORWARD)); +} + +void CameraGL::translate(const sl::Translation& t) { + position_ = position_ + t; +} + +void CameraGL::setPosition(const sl::Translation& p) { + position_ = p; +} + +void CameraGL::rotate(const sl::Orientation& rot) { + rotation_ = rot * rotation_; + updateVectors(); +} + +void CameraGL::rotate(const sl::Rotation& m) { + this->rotate(sl::Orientation(m)); +} + +void CameraGL::setRotation(const sl::Orientation& rot) { + rotation_ = rot; + updateVectors(); +} + +void CameraGL::setRotation(const sl::Rotation& m) { + this->setRotation(sl::Orientation(m)); +} + +const sl::Translation& CameraGL::getPosition() const { + return position_; +} + +const sl::Translation& CameraGL::getForward() const { + return forward_; +} + +const sl::Translation& CameraGL::getRight() const { + return right_; +} + +const sl::Translation& CameraGL::getUp() const { + return up_; +} + +const sl::Translation& CameraGL::getVertical() const { + return vertical_; +} + +float CameraGL::getZNear() const { + return znear_; +} + +float CameraGL::getZFar() const { + return zfar_; +} + +void CameraGL::updateVectors() { + forward_ = ORIGINAL_FORWARD * rotation_; + up_ = ORIGINAL_UP * rotation_; + right_ = sl::Translation(ORIGINAL_RIGHT * -1.f) * rotation_; +} + +void CameraGL::updateView() { + sl::Transform transformation(rotation_, (offset_ * rotation_) + position_); + view_ = sl::Transform::inverse(transformation); +} + +void CameraGL::updateVPMatrix() { + vpMatrix_ = projection_ * view_; +} + + +GLchar* IMAGE_VERTEX_SHADER = +"#version 330\n" +"layout(location = 0) in vec2 vert;\n" +"layout(location = 1) in vec3 vert_tex;\n" +"out vec2 UV;" +"void main() {\n" +" UV = vert;\n" +" gl_Position = vec4(vert_tex, 1);\n" +"}\n"; + +GLchar* IMAGE_FRAGMENT_SHADER = +"#version 330 core\n" +" in vec2 UV;\n" +" out vec4 color;\n" +" uniform sampler2D texImage;\n" +" void main() {\n" +" vec2 scaler = vec2(UV.x, UV.y);\n" +" color = vec4(texture(texImage, scaler).zyxw);\n" +"}"; + +ImageHandler::ImageHandler():init(false) {} + +ImageHandler::~ImageHandler() { + close(); +} + +void ImageHandler::close() { + if (init) { + init = false; + glDeleteTextures(1, &imageTex); + glDeleteBuffers(3, vboID_); + glDeleteVertexArrays(1, &vaoID_); + } +} + +bool ImageHandler::initialize(sl::Resolution res) { + glEnable(GL_TEXTURE_2D); + glDisable(GL_DEPTH_TEST); + shader = Shader(IMAGE_VERTEX_SHADER, IMAGE_FRAGMENT_SHADER); + texID = glGetUniformLocation(shader.getProgramId(), "texImage"); + + glGenVertexArrays(1, &vaoID_); + glGenBuffers(3, vboID_); + { + float w_0 = 0.f; + float w_1 = 1.f; + float h_0 = 1.f; + float h_1 = 0.f; + + static const GLfloat g_quad_vertex_buffer_data[] = { + w_0, h_0, + w_1, h_0, + w_0, h_1, + w_1, h_1 }; + + glBindVertexArray(vaoID_); + glBindBuffer(GL_ARRAY_BUFFER, vboID_[0]); + glBufferData(GL_ARRAY_BUFFER, 8 * sizeof(float), g_quad_vertex_buffer_data, GL_STATIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 2, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); + } + + { + float w_0 = -1.f; + float w_1 = 1.f; + float h_0 = -1.f; + float h_1 = 1.f; + + static const GLfloat g_quad_vertex_buffer_data[] = { + w_0, h_0, 0.f, + w_1, h_0, 0.f, + w_0, h_1, 0.f, + w_1, h_1, 0.f }; + glBindBuffer(GL_ARRAY_BUFFER, vboID_[1]); + glBufferData(GL_ARRAY_BUFFER, 12 * sizeof(float), g_quad_vertex_buffer_data, GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_COLOR_POS, 3, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_COLOR_POS); + glBindBuffer(GL_ARRAY_BUFFER, 0); + } + + std::vector indices_; // 4 corners + for (int i = 0; i < 4; i++) indices_.push_back(i); + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vboID_[2]); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices_.size() * sizeof(unsigned int), &indices_[0], GL_STATIC_DRAW); + + glBindVertexArray(0); + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + glBindBuffer(GL_ARRAY_BUFFER, 0); + + glGenTextures(1, &imageTex); + glBindTexture(GL_TEXTURE_2D, imageTex); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, res.width, res.height, 0, GL_BGRA_EXT, GL_UNSIGNED_BYTE, NULL); + glBindTexture(GL_TEXTURE_2D, 0); + cudaError_t err = cudaGraphicsGLRegisterImage(&cuda_gl_ressource, imageTex, GL_TEXTURE_2D, cudaGraphicsRegisterFlagsWriteDiscard); + if (err) std::cout << "err alloc " << err << " " << cudaGetErrorString(err) << "\n"; + glDisable(GL_TEXTURE_2D); + + init = true; + return (err == cudaSuccess); +} + +void ImageHandler::reshape(int width, int height) { + const float w_0 = -1.f; + const float w_1 = -0.5f; + float h_0 = -1.f; + const float h_1 = h_0 + (1.f / (16.f / 9.f)); + + static const GLfloat g_quad_vertex_buffer_data[] = { + w_0, h_0, 0.f, + w_1, h_0, 0.f, + w_0, h_1, 0.f, + w_1, h_1, 0.f }; + + glBindBuffer(GL_ARRAY_BUFFER, vboID_[1]); + glBufferData(GL_ARRAY_BUFFER, 12 * sizeof(float), g_quad_vertex_buffer_data, GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_COLOR_POS, 3, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_COLOR_POS); + glBindBuffer(GL_ARRAY_BUFFER, 0); +} + +void ImageHandler::pushNewImage(sl::Mat& image) { + if (!init) return; + + glEnable(GL_TEXTURE_2D); + cudaArray_t ArrIm; + auto err = cudaGraphicsMapResources(1, &cuda_gl_ressource, 0); + if (err) std::cout << "err 0 " << err << " " << cudaGetErrorString(err) << "\n"; + err = cudaGraphicsSubResourceGetMappedArray(&ArrIm, cuda_gl_ressource, 0, 0); + if (err) std::cout << "err 1 " << err << " " << cudaGetErrorString(err) << "\n"; + err = cudaMemcpy2DToArray(ArrIm, 0, 0, image.getPtr(sl::MEM::GPU), image.getStepBytes(sl::MEM::GPU), image.getPixelBytes() * image.getWidth(), image.getHeight(), cudaMemcpyDeviceToDevice); + if (err) std::cout << "err 2 " << err << " " << cudaGetErrorString(err) << "\n"; + err = cudaGraphicsUnmapResources(1, &cuda_gl_ressource, 0); + if (err) std::cout << "err 3 " << err << " " << cudaGetErrorString(err) << "\n"; + glDisable(GL_TEXTURE_2D); +} + +void ImageHandler::draw() { + if (!init) return; + glEnable(GL_TEXTURE_2D); + glDisable(GL_DEPTH_TEST); + + const auto id_shade = shader.getProgramId(); + glUseProgram(id_shade); + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, imageTex); + glUniform1i(texID, 0); + + glBindVertexArray(vaoID_); + glDrawElements(GL_TRIANGLE_STRIP, (GLsizei)4, GL_UNSIGNED_INT, 0); + glBindVertexArray(0); + + glUseProgram(0); + glDisable(GL_TEXTURE_2D); + glEnable(GL_DEPTH_TEST); +} diff --git a/plane detection/floor plane/cpp/src/main.cpp b/plane detection/floor plane/cpp/src/main.cpp new file mode 100644 index 00000000..3395fee5 --- /dev/null +++ b/plane detection/floor plane/cpp/src/main.cpp @@ -0,0 +1,154 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + +/************************************************************************* +** This sample shows how to capture a real-time 3D reconstruction ** +** of the scene using the Spatial Mapping API. The resulting mesh ** +** is displayed as a wireframe on top of the left image using OpenGL. ** +** Spatial Mapping can be started and stopped with the Space Bar key ** +*************************************************************************/ + +// ZED includes +#include + +// Sample includes +#include "GLViewer.hpp" + +// Using std and sl namespaces +using namespace std; +using namespace sl; + +void parseArgs(int argc, char **argv,sl::InitParameters& param); + +#define AUTO_SEARCH 0 + +int main(int argc, char** argv) { + Camera zed; + // Setup configuration parameters for the ZED + InitParameters init_parameters; + init_parameters.depth_mode = sl::DEPTH_MODE::PERFORMANCE; + init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; // OpenGL coordinates system + parseArgs(argc,argv, init_parameters); + + // Open the camera + ERROR_CODE zed_open_state = zed.open(init_parameters); + if (zed_open_state != ERROR_CODE::SUCCESS) { + std::cout << "Camera Open" << zed_open_state << "\nExit program." << std::endl;; + return EXIT_FAILURE; + } + + sl::Resolution low_res(720, 404); + sl::Mat pointCloud(low_res, sl::MAT_TYPE::F32_C4, sl::MEM::GPU); + sl::Mat image(low_res, sl::MAT_TYPE::U8_C4, sl::MEM::GPU); + auto camera_infos = zed.getCameraInformation(low_res); + + GLViewer viewer; + viewer.init(argc, argv, camera_infos.camera_configuration.calibration_parameters.left_cam); + + Pose pose; // positional tracking data + ERROR_CODE find_plane_status = ERROR_CODE::SUCCESS; + POSITIONAL_TRACKING_STATE tracking_state = POSITIONAL_TRACKING_STATE::SEARCHING_FLOOR_PLANE; + + RuntimeParameters runtime_parameters; + runtime_parameters.measure3D_reference_frame = REFERENCE_FRAME::WORLD; + +#if AUTO_SEARCH + PositionalTrackingParameters tracking_parameters; + tracking_parameters.set_floor_as_origin = true; + zed.enablePositionalTracking(tracking_parameters); +#else + Plane floor_plane; + Transform reset_tracking; +#endif + + while(viewer.isAvailable()) { + if(zed.grab(runtime_parameters) == ERROR_CODE::SUCCESS) { + + zed.retrieveImage(image, VIEW::LEFT, MEM::GPU, low_res); + viewer.updateImage(image); +#if !AUTO_SEARCH + if (tracking_state == POSITIONAL_TRACKING_STATE::SEARCHING_FLOOR_PLANE) { + if (zed.findFloorPlane(floor_plane, reset_tracking) == ERROR_CODE::SUCCESS) { + PositionalTrackingParameters tracking_parameters; + tracking_parameters.initial_world_transform = reset_tracking; + zed.enablePositionalTracking(tracking_parameters); + tracking_state = POSITIONAL_TRACKING_STATE::OK; + std::cout << "\rFloor Plane found ! Set world reference and start point cloud retrieval" << std::endl; + } + } + else +#endif + { + tracking_state = zed.getPosition(pose); + + if (tracking_state == POSITIONAL_TRACKING_STATE::OK) { + zed.retrieveMeasure(pointCloud, MEASURE::XYZRGBA, MEM::GPU, low_res); + viewer.updateData(pointCloud, pose.pose_data); + } + else if (tracking_state == POSITIONAL_TRACKING_STATE::SEARCHING_FLOOR_PLANE) + std::cout << "\rFloor Plane not found, mouve around to find it"; + } + } + } + + pointCloud.free(); + image.free(); + zed.disablePositionalTracking(); + zed.close(); + return EXIT_SUCCESS; +} + +void parseArgs(int argc, char **argv,sl::InitParameters& param) +{ + if (argc > 1 && string(argv[1]).find(".svo")!=string::npos) { + // SVO input mode + param.input.setFromSVOFile(argv[1]); + cout<<"[Sample] Using SVO File input: "< 1 && string(argv[1]).find(".svo")==string::npos) { + string arg = string(argv[1]); + unsigned int a,b,c,d,port; + if (sscanf(arg.c_str(),"%u.%u.%u.%u:%d", &a, &b, &c, &d,&port) == 5) { + // Stream input mode - IP + port + string ip_adress = to_string(a)+"."+to_string(b)+"."+to_string(c)+"."+to_string(d); + param.input.setFromStream(sl::String(ip_adress.c_str()),port); + cout<<"[Sample] Using Stream input, IP : "< + +#include +#include + +#include + +#ifndef M_PI +#define M_PI 3.141592653f +#endif + +//// UTILS ////// +void print(std::string msg_prefix, sl::ERROR_CODE err_code = sl::ERROR_CODE::SUCCESS, std::string msg_suffix = "") ; + +///////////////// + +struct UserAction { + bool press_space; + bool hit; + sl::float2 hit_coord; + + void clear() { + press_space = false; + hit = false; + } +}; + +class Shader { +public: + Shader() {} + Shader(GLchar* vs, GLchar* fs); + ~Shader(); + + GLuint getProgramId(); + + static const GLint ATTRIB_VERTICES_POS = 0; + static const GLint ATTRIB_VERTICES_DIST = 1; + +private: + bool compile(GLuint &shaderId, GLenum type, GLchar* src); + GLuint verterxId_; + GLuint fragmentId_; + GLuint programId_; +}; + +struct ShaderData { + Shader it; + GLuint MVP_Mat; + GLuint shColorLoc; +}; + +class MeshObject { + GLuint vaoID_; + GLuint vboID_[3]; + int current_fc; + bool need_update; + + std::vector vert; + std::vector edge_dist; + std::vector tri; + +public: + MeshObject(); + ~MeshObject(); + void updateMesh(std::vector &vertices, std::vector &triangles, std::vector &border); + void pushToGPU(); + void draw(); + void alloc(); + sl::PLANE_TYPE type; + ShaderData shader; +}; + +class ImageHandler { + public: + ImageHandler(); + ~ImageHandler(); + + // Initialize Opengl and Cuda buffers + bool initialize(sl::Resolution res); + // Push a new Image + Z buffer and transform into a point cloud + void pushNewImage(sl::Mat& image); + // Draw the Image + void draw(); + // Close (disable update) + void close(); + + private: + GLuint texID; + GLuint imageTex; + cudaGraphicsResource* cuda_gl_ressource;//cuda GL resource + ShaderData shader; + GLuint quad_vb; +}; + +class GLViewer { +public: + GLViewer(); + ~GLViewer(); + bool isAvailable(); + bool init(int argc, char **argv, sl::CameraParameters &camLeft, bool has_imu); + UserAction updateImageAndState(sl::Mat &image, sl::Transform &pose, sl::POSITIONAL_TRACKING_STATE track_state); + void updateMesh(sl::Mesh &mesh, sl::PLANE_TYPE type); + + void exit(); +private: + // Rendering loop method called each frame by glutDisplayFunc + void render(); + // Everything that needs to be updated before rendering must be done in this method + void update(); + // Once everything is updated, every renderable objects must be drawn in this method + void draw(); + + void printText(); + + void setRenderCameraProjection(sl::CameraParameters params, float znear, float zfar); + + static void drawCallback(); + static void reshapeCallback(int width, int height); + static void keyReleasedCallback(unsigned char c, int x, int y); + static void mouseButtonCallback(int button, int state, int x, int y); + static void idle(); + + std::mutex mtx; + + bool available; + sl::Transform pose; + sl::POSITIONAL_TRACKING_STATE tracking_state; + UserAction user_action; + + bool new_data; + bool use_imu; + int wnd_w, wnd_h; + + // Opengl object + // OpenGL camera projection matrix + sl::Transform camera_projection; + ImageHandler image_handler; + MeshObject mesh_object; // Opengl mesh container +}; + +#endif diff --git a/plane detection/overview/cpp/src/GLViewer.cpp b/plane detection/overview/cpp/src/GLViewer.cpp new file mode 100644 index 00000000..fe156d81 --- /dev/null +++ b/plane detection/overview/cpp/src/GLViewer.cpp @@ -0,0 +1,595 @@ +#include "GLViewer.hpp" + +#include + +using namespace std; + +void print(std::string msg_prefix, sl::ERROR_CODE err_code, std::string msg_suffix) { + cout <<"[Sample]"; + if (err_code != sl::ERROR_CODE::SUCCESS) + cout << "[Error] "; + else + cout<<" "; + cout << msg_prefix << " "; + if (err_code != sl::ERROR_CODE::SUCCESS) { + cout << " | " << toString(err_code) << " : "; + cout << toVerbose(err_code); + } + if (!msg_suffix.empty()) + cout << " " << msg_suffix; + cout << endl; +} + +GLchar* MESH_VERTEX_SHADER = +"#version 330 core\n" +"layout(location = 0) in vec3 in_Vertex;\n" +"layout(location = 1) in float in_dist;\n" +"uniform mat4 u_mvpMatrix;\n" +"uniform vec3 u_color;\n" +"out vec3 b_color;\n" +"out float distance;\n" +"void main() {\n" +" b_color = u_color;\n" +" distance = in_dist;\n" +" gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n" +"}"; + +GLchar* MESH_FRAGMENT_SHADER = +"#version 330 core\n" +"in vec3 b_color;\n" +"in float distance;\n" +"layout(location = 0) out vec4 color;\n" +"void main() {\n" +" color = vec4(b_color,distance);\n" +"}"; + +GLchar* IMAGE_FRAGMENT_SHADER = +"#version 330 core\n" +" in vec2 UV;\n" +" out vec4 color;\n" +" uniform sampler2D texImage;\n" +" uniform bool revert;\n" +" uniform bool rgbflip;\n" +" void main() {\n" +" vec2 scaler =revert?vec2(UV.x,1.f - UV.y):vec2(UV.x,UV.y);\n" +" vec3 rgbcolor = rgbflip?vec3(texture(texImage, scaler).zyx):vec3(texture(texImage, scaler).xyz);\n" +" color = vec4(rgbcolor,1);\n" +"}"; + +GLchar* IMAGE_VERTEX_SHADER = +"#version 330\n" +"layout(location = 0) in vec3 vert;\n" +"out vec2 UV;" +"void main() {\n" +" UV = (vert.xy+vec2(1,1))/2;\n" +" gl_Position = vec4(vert, 1);\n" +"}\n"; + +MeshObject::MeshObject() { + current_fc = 0; + vaoID_ = 0; + need_update = false; +} + +MeshObject::~MeshObject() { + need_update = false; + current_fc = 0; + vert.clear(); + edge_dist.clear(); + tri.clear(); + if(vaoID_) { + glDeleteBuffers(3, vboID_); + glDeleteVertexArrays(1, &vaoID_); + } +} + +void MeshObject::alloc(){ + glGenVertexArrays(1, &vaoID_); + glGenBuffers(3, vboID_); + shader.it = Shader(MESH_VERTEX_SHADER, MESH_FRAGMENT_SHADER); + shader.MVP_Mat = glGetUniformLocation(shader.it.getProgramId(), "u_mvpMatrix"); + shader.shColorLoc = glGetUniformLocation(shader.it.getProgramId(), "u_color"); +} + +void MeshObject::updateMesh(std::vector &vertices, std::vector &triangles, std::vector &border) { + if(!need_update) { + vert = vertices; + tri = triangles; + + edge_dist.resize(vertices.size()); + + for (unsigned int i = 0; i < edge_dist.size(); i++) { + float d_min = std::numeric_limits::max(); + sl::float3 v_current = vertices[i]; + for (unsigned int j = 0; j < border.size(); j++) { + float dist_current = sl::float3::distance(v_current, vertices[border[j]]); + if(dist_current < d_min) { + d_min = dist_current; + } + } + edge_dist[i] = d_min >= 0.002 ? 0.4 : 0.0f; + } + need_update = true; + } +} + +void MeshObject::pushToGPU() { + if(need_update) { + glBindVertexArray(vaoID_); + + glBindBuffer(GL_ARRAY_BUFFER, vboID_[0]); + glBufferData(GL_ARRAY_BUFFER, vert.size() * sizeof(sl::float3), &vert[0], GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 3, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); + + glBindBuffer(GL_ARRAY_BUFFER, vboID_[1]); + glBufferData(GL_ARRAY_BUFFER, edge_dist.size() * sizeof(float), &edge_dist[0], GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_VERTICES_DIST, 1, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_DIST); + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vboID_[2]); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, tri.size() * sizeof(sl::uint3), &tri[0], GL_DYNAMIC_DRAW); + + current_fc = (int) tri.size() * 3; + + glBindVertexArray(0); + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + glBindBuffer(GL_ARRAY_BUFFER, 0); + need_update = false; + } +} + +void MeshObject::draw() { + if(current_fc && vaoID_) { + glBindVertexArray(vaoID_); + glDrawElements(GL_TRIANGLES, (GLsizei) current_fc, GL_UNSIGNED_INT, 0); + glBindVertexArray(0); + } +} + +GLViewer* currentInstance_ = nullptr; + +GLViewer::GLViewer() :available(false) { + currentInstance_ = this; + pose.setIdentity(); + tracking_state = sl::POSITIONAL_TRACKING_STATE::OFF; + new_data = false; + user_action.clear(); +} + +GLViewer::~GLViewer() { +} + + +bool cudaSafeCall(cudaError_t err) { + if(err != cudaSuccess) { + printf("Cuda error [%d]: %s.\n", err, cudaGetErrorString(err)); + return false; + } + return true; +} + +void GLViewer::exit() { + if(available) { + image_handler.close(); + } + available = false; +} + +bool GLViewer::isAvailable() { + if(available) + glutMainLoopEvent(); + return available; +} + +void CloseFunc(void) { if(currentInstance_) currentInstance_->exit(); } + +bool GLViewer::init(int argc, char **argv, sl::CameraParameters &camLeft, bool has_imu) { + + glutInit(&argc, argv); + int wnd_w = glutGet(GLUT_SCREEN_WIDTH); + int wnd_h = glutGet(GLUT_SCREEN_HEIGHT); + int width = wnd_w * 0.9; + int height = wnd_h * 0.9; + if (width > camLeft.image_size.width && height > camLeft.image_size.height) { + width = camLeft.image_size.width; + height = camLeft.image_size.height; + } + + glutInitWindowSize(width, height); + glutInitWindowPosition(wnd_w * 0.05, wnd_h * 0.05); + glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA); + glutCreateWindow("ZED Plane Detection"); + + reshapeCallback(width, height); + + GLenum err = glewInit(); + if (GLEW_OK != err){ + std::cout << "ERROR: glewInit failed: " << glewGetErrorString(err) << "\n"; + return true; + } + + glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_CONTINUE_EXECUTION); + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + glEnable(GL_LINE_SMOOTH); + glHint(GL_LINE_SMOOTH_HINT, GL_NICEST); + + bool status_ = image_handler.initialize(camLeft.image_size); + if (!status_) { + std::cout << "ERROR: Failed to initialized Image Renderer" << std::endl; + return true; + } + + // Create the rendering camera + setRenderCameraProjection(camLeft, 0.1f, 50); + + mesh_object.alloc(); + + // Set glut callback before start + glutDisplayFunc(GLViewer::drawCallback); + glutKeyboardUpFunc(GLViewer::keyReleasedCallback); + glutMouseFunc(GLViewer::mouseButtonCallback); + glutReshapeFunc(GLViewer::reshapeCallback); + glutCloseFunc(CloseFunc); + + use_imu = has_imu; + user_action.hit_coord = sl::float2(.5f, .5f); + + available = true; + + return false; +} + +void GLViewer::setRenderCameraProjection(sl::CameraParameters params, float znear, float zfar) { + // Just slightly up the ZED camera FOV to make a small black border + float fov_y = (params.v_fov + 0.5f) * M_PI / 180.f; + float fov_x = (params.h_fov + 0.5f) * M_PI / 180.f; + + camera_projection(0, 0) = 1.0f / tanf(fov_x * 0.5f); + camera_projection(1, 1) = 1.0f / tanf(fov_y * 0.5f); + camera_projection(2, 2) = -(zfar + znear) / (zfar - znear); + camera_projection(3, 2) = -1; + camera_projection(2, 3) = -(2.f * zfar * znear) / (zfar - znear); + camera_projection(3, 3) = 0; + + camera_projection(0, 0) = 1.0f / tanf(fov_x * 0.5f); //Horizontal FoV. + camera_projection(0, 1) = 0; + camera_projection(0, 2) = 2.0f * ((params.image_size.width - 1.0f * params.cx) / params.image_size.width) - 1.0f; //Horizontal offset. + camera_projection(0, 3) = 0; + + camera_projection(1, 0) = 0; + camera_projection(1, 1) = 1.0f / tanf(fov_y * 0.5f); //Vertical FoV. + camera_projection(1, 2) = -(2.0f * ((params.image_size.height - 1.0f * params.cy) / params.image_size.height) - 1.0f); //Vertical offset. + camera_projection(1, 3) = 0; + + camera_projection(2, 0) = 0; + camera_projection(2, 1) = 0; + camera_projection(2, 2) = -(zfar + znear) / (zfar - znear); //Near and far planes. + camera_projection(2, 3) = -(2.0f * zfar * znear) / (zfar - znear); //Near and far planes. + + camera_projection(3, 0) = 0; + camera_projection(3, 1) = 0; + camera_projection(3, 2) = -1; + camera_projection(3, 3) = 0.0f; +} + +void GLViewer::drawCallback() { + currentInstance_->render(); +} + +void GLViewer::idle() { + glutPostRedisplay(); +} + +void GLViewer::keyReleasedCallback(unsigned char c, int x, int y) { + // space bar means change spatial mapping state + if(c == 32) + currentInstance_->user_action.press_space = true; + + if((c == 'p') || (c == 'P')) + currentInstance_->user_action.hit = true; + + // Esc or Q hit means exit + if((c == 'q') || (c == 'Q') || (c == 27)) + currentInstance_->exit(); +} + +void GLViewer::reshapeCallback(int width, int height) { + glViewport(0, 0, width, height); + currentInstance_->wnd_w = width; + currentInstance_->wnd_h = height; +} + +void GLViewer::mouseButtonCallback(int button, int state, int x, int y) { + if(button < 3) { + if(state == GLUT_DOWN) { + currentInstance_->user_action.hit = true; + currentInstance_->user_action.hit_coord.x = (x / (1.f*currentInstance_->wnd_w)); + currentInstance_->user_action.hit_coord.y = (y / (1.f*currentInstance_->wnd_h)); + } + } +} + +UserAction GLViewer::updateImageAndState(sl::Mat &im, sl::Transform &pose_, sl::POSITIONAL_TRACKING_STATE track_state) { + if(mtx.try_lock()) { + if(available) { + image_handler.pushNewImage(im); + pose = pose_; + tracking_state = track_state; + } + new_data = true; + mtx.unlock(); + } + + auto cpy = user_action; + user_action.clear(); + return cpy; +} + +void GLViewer::updateMesh(sl::Mesh &mesh, sl::PLANE_TYPE type) { + if(mtx.try_lock()) { + auto edges = mesh.getBoundaries(); + mesh_object.updateMesh(mesh.vertices, mesh.triangles, edges); + mesh_object.type = type; + mtx.unlock(); + } +} + +void GLViewer::render() { + if(available) { + mtx.lock(); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glClearColor(0, 0, 0, 1.f); + update(); + draw(); + printText(); + mtx.unlock(); + glutSwapBuffers(); + glutPostRedisplay(); + } +} + +void GLViewer::update() { + // Update GPU data + if(new_data) { + mesh_object.pushToGPU(); + new_data = false; + } +} + +sl::float3 getPlaneColor(sl::PLANE_TYPE type) { + sl::float3 clr; + switch(type) { + case sl::PLANE_TYPE::HORIZONTAL: clr = sl::float3(0.65f, 0.95f, 0.35f); + break; + case sl::PLANE_TYPE::VERTICAL: clr = sl::float3(0.95f, 0.35f, 0.65f); + break; + case sl::PLANE_TYPE::UNKNOWN: clr = sl::float3(0.35f, 0.65f, 0.95f); + break; + default: break; + } + return clr; +} + +void GLViewer::draw() { + if(available) { + image_handler.draw(); + + // If the Positional tracking is good, we can draw the mesh over the current image + if ((tracking_state == sl::POSITIONAL_TRACKING_STATE::OK)) { + glDisable(GL_TEXTURE_2D); + // Send the projection and the Pose to the GLSL shader to make the projection of the 2D image. + sl::Transform vpMatrix = camera_projection * sl::Transform::inverse(pose); + glUseProgram(mesh_object.shader.it.getProgramId()); + glUniformMatrix4fv(mesh_object.shader.MVP_Mat, 1, GL_TRUE, vpMatrix.m); + + sl::float3 clr_plane = getPlaneColor(mesh_object.type); + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + glUniform3fv(mesh_object.shader.shColorLoc, 1, clr_plane.v); + mesh_object.draw(); + + glLineWidth(0.5); + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + glUniform3fv(mesh_object.shader.shColorLoc, 1, clr_plane.v); + mesh_object.draw(); + glUseProgram(0); + } + + /// Draw Hit + float cx = user_action.hit_coord.x * 2.f - 1.f; + float cy = (user_action.hit_coord.y * 2.f - 1.f)*-1.f; + + float lx = 0.02f; + float ly = lx * (wnd_w/(1.f*wnd_h)); + + glLineWidth(2); + glColor3f(0.2f, 0.45f, 0.9f); + glBegin(GL_LINES); + glVertex3f(cx - lx, cy, 0.0); + glVertex3f(cx + lx, cy, 0.0); + glVertex3f(cx, cy - ly, 0.0); + glVertex3f(cx, cy + ly, 0.0); + glEnd(); + } +} + +void printGL(float x, float y, const char *string) { + glRasterPos2f(x, y); + int len = (int) strlen(string); + for(int i = 0; i < len; i++) { + glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, string[i]); + } +} + +void GLViewer::printText() { + if(available) { + if (tracking_state != sl::POSITIONAL_TRACKING_STATE::OK) { + glColor4f(0.85f, 0.25f, 0.15f, 1.f); + std::string state_str; + std::string positional_tracking_state_str("POSITIONAL TRACKING STATE : "); + state_str = positional_tracking_state_str + toString(tracking_state).c_str(); + printGL(-0.99f, 0.9f, state_str.c_str()); + } else { + glColor4f(0.82f, 0.82f, 0.82f, 1.f); + printGL(-0.99f, 0.9f, "Press Space Bar to detect floor PLANE."); + printGL(-0.99f, 0.85f, "Press 'p' key to get plane at hit."); + } + + if(use_imu) { + float y_start = -0.99f; + for(int t = 0; t < static_cast(sl::PLANE_TYPE::LAST); t++) { + sl::PLANE_TYPE type = static_cast (t); + sl::float3 clr = getPlaneColor(type); + glColor4f(clr.r, clr.g, clr.b, 1.f); + printGL(-0.99f, y_start, sl::toString(type).c_str()); + y_start += 0.05; + } + glColor4f(0.22, 0.22, 0.22, 1.f); + printGL(-0.99f, y_start, "PLANES ORIENTATION :"); + } + } +} + +Shader::Shader(GLchar* vs, GLchar* fs) { + if(!compile(verterxId_, GL_VERTEX_SHADER, vs)) { + std::cout << "ERROR: while compiling vertex shader" << std::endl; + } + if(!compile(fragmentId_, GL_FRAGMENT_SHADER, fs)) { + std::cout << "ERROR: while compiling fragment shader" << std::endl; + } + + programId_ = glCreateProgram(); + + glAttachShader(programId_, verterxId_); + glAttachShader(programId_, fragmentId_); + + glBindAttribLocation(programId_, ATTRIB_VERTICES_POS, "in_vertex"); + + glLinkProgram(programId_); + + GLint errorlk(0); + glGetProgramiv(programId_, GL_LINK_STATUS, &errorlk); + if(errorlk != GL_TRUE) { + std::cout << "ERROR: while linking Shader :" << std::endl; + GLint errorSize(0); + glGetProgramiv(programId_, GL_INFO_LOG_LENGTH, &errorSize); + + char *error = new char[errorSize + 1]; + glGetShaderInfoLog(programId_, errorSize, &errorSize, error); + error[errorSize] = '\0'; + std::cout << error << std::endl; + + delete[] error; + glDeleteProgram(programId_); + } +} + +Shader::~Shader() { + if(verterxId_ != 0) + glDeleteShader(verterxId_); + if(fragmentId_ != 0) + glDeleteShader(fragmentId_); + if(programId_ != 0) + glDeleteShader(programId_); +} + +GLuint Shader::getProgramId() { + return programId_; +} + +bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) { + shaderId = glCreateShader(type); + if(shaderId == 0) { + std::cout << "ERROR: shader type (" << type << ") does not exist" << std::endl; + return false; + } + glShaderSource(shaderId, 1, (const char**) &src, 0); + glCompileShader(shaderId); + + GLint errorCp(0); + glGetShaderiv(shaderId, GL_COMPILE_STATUS, &errorCp); + if(errorCp != GL_TRUE) { + std::cout << "ERROR: while compiling Shader :" << std::endl; + GLint errorSize(0); + glGetShaderiv(shaderId, GL_INFO_LOG_LENGTH, &errorSize); + + char *error = new char[errorSize + 1]; + glGetShaderInfoLog(shaderId, errorSize, &errorSize, error); + error[errorSize] = '\0'; + std::cout << error << std::endl; + + delete[] error; + glDeleteShader(shaderId); + return false; + } + return true; +} + +ImageHandler::ImageHandler() {} + +ImageHandler::~ImageHandler() { + close(); +} + +void ImageHandler::close() { + glDeleteTextures(1, &imageTex); +} + +bool ImageHandler::initialize(sl::Resolution res) { + shader.it = Shader(IMAGE_VERTEX_SHADER, IMAGE_FRAGMENT_SHADER); + texID = glGetUniformLocation(shader.it.getProgramId(), "texImage"); + static const GLfloat g_quad_vertex_buffer_data[] = { + -1.0f, -1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + 1.0f, 1.0f, 0.0f }; + + glGenBuffers(1, &quad_vb); + glBindBuffer(GL_ARRAY_BUFFER, quad_vb); + glBufferData(GL_ARRAY_BUFFER, sizeof(g_quad_vertex_buffer_data), g_quad_vertex_buffer_data, GL_STATIC_DRAW); + glBindBuffer(GL_ARRAY_BUFFER, 0); + + glEnable(GL_TEXTURE_2D); + glGenTextures(1, &imageTex); + glBindTexture(GL_TEXTURE_2D, imageTex); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, res.width, res.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL); + glBindTexture(GL_TEXTURE_2D, 0); + cudaError_t err = cudaGraphicsGLRegisterImage(&cuda_gl_ressource, imageTex, GL_TEXTURE_2D, cudaGraphicsRegisterFlagsWriteDiscard); + return (err == cudaSuccess); +} + +void ImageHandler::pushNewImage(sl::Mat& image) { + cudaArray_t ArrIm; + cudaGraphicsMapResources(1, &cuda_gl_ressource, 0); + cudaGraphicsSubResourceGetMappedArray(&ArrIm, cuda_gl_ressource, 0, 0); + cudaMemcpy2DToArray(ArrIm, 0, 0, image.getPtr(sl::MEM::GPU), image.getStepBytes(sl::MEM::GPU), image.getPixelBytes() * image.getWidth(), image.getHeight(), cudaMemcpyDeviceToDevice); + cudaGraphicsUnmapResources(1, &cuda_gl_ressource, 0); +} + +void ImageHandler::draw() { + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + + glEnable(GL_TEXTURE_2D); + glUseProgram(shader.it.getProgramId()); + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, imageTex); + glUniform1i(texID, 0); + //invert y axis and color for this image (since its reverted from cuda array) + glUniform1i(glGetUniformLocation(shader.it.getProgramId(), "revert"), 1); + glUniform1i(glGetUniformLocation(shader.it.getProgramId(), "rgbflip"), 1); + + glEnableVertexAttribArray(0); + glBindBuffer(GL_ARRAY_BUFFER, quad_vb); + glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, (void*)0); + glDrawArrays(GL_TRIANGLES, 0, 6); + glDisableVertexAttribArray(0); + glUseProgram(0); + glDisable(GL_TEXTURE_2D); +} diff --git a/plane detection/overview/cpp/src/main.cpp b/plane detection/overview/cpp/src/main.cpp new file mode 100644 index 00000000..b37c070e --- /dev/null +++ b/plane detection/overview/cpp/src/main.cpp @@ -0,0 +1,167 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + +/************************************************************************* +** This sample shows how to capture a real-time 3D reconstruction ** +** of the scene using the Spatial Mapping API. The resulting mesh ** +** is displayed as a wireframe on top of the left image using OpenGL. ** +** Spatial Mapping can be started and stopped with the Space Bar key ** +*************************************************************************/ + +// ZED includes +#include + +// Sample includes +#include "GLViewer.hpp" + +// Using std and sl namespaces +using namespace std; +using namespace sl; + +void parseArgs(int argc, char **argv,sl::InitParameters& param); + +int main(int argc, char** argv) { + Camera zed; + // Setup configuration parameters for the ZED + InitParameters init_parameters; + init_parameters.depth_mode = sl::DEPTH_MODE::PERFORMANCE; + init_parameters.coordinate_units = UNIT::METER; + init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; // OpenGL coordinates system + parseArgs(argc,argv, init_parameters); + + // Open the camera + ERROR_CODE zed_open_state = zed.open(init_parameters); + if (zed_open_state != ERROR_CODE::SUCCESS) { + print("Camera Open", zed_open_state, "Exit program."); + return EXIT_FAILURE; + } + + auto camera_infos = zed.getCameraInformation(); + auto has_imu = camera_infos.sensors_configuration.isSensorAvailable(SENSOR_TYPE::GYROSCOPE); + + GLViewer viewer; + bool error_viewer = viewer.init(argc, argv, camera_infos.camera_configuration.calibration_parameters.left_cam, has_imu); + if(error_viewer) { + viewer.exit(); + zed.close(); + return EXIT_FAILURE; + } + + Mat image; // current left image + Pose pose; // positional tracking data + Plane plane; // detected plane + Mesh mesh; // plane mesh + + ERROR_CODE find_plane_status = ERROR_CODE::SUCCESS; + POSITIONAL_TRACKING_STATE tracking_state = POSITIONAL_TRACKING_STATE::OFF; + + // time stamp of the last mesh request + chrono::high_resolution_clock::time_point ts_last; + + UserAction user_action; + user_action.clear(); + + // Enable positional tracking before starting spatial mapping + zed.enablePositionalTracking(); + + RuntimeParameters runtime_parameters; + runtime_parameters.measure3D_reference_frame = REFERENCE_FRAME::WORLD; + + while(viewer.isAvailable()) { + if(zed.grab(runtime_parameters) == ERROR_CODE::SUCCESS) { + // Retrieve image in GPU memory + zed.retrieveImage(image, VIEW::LEFT, MEM::GPU); + // Update pose data (used for projection of the mesh over the current image) + tracking_state = zed.getPosition(pose); + + if (tracking_state == POSITIONAL_TRACKING_STATE::OK) { + // Compute elapse time since the last call of plane detection + auto duration = chrono::duration_cast(chrono::high_resolution_clock::now() - ts_last).count(); + // Ask for a mesh update + if(user_action.hit) { + auto image_click = sl::uint2(user_action.hit_coord.x * camera_infos.camera_configuration.resolution.width,user_action.hit_coord.y * camera_infos.camera_configuration.resolution.height); + find_plane_status = zed.findPlaneAtHit(image_click, plane); + } + + //if 500ms have spend since last request + if((duration > 500) && user_action.press_space) { + // Update pose data (used for projection of the mesh over the current image) + Transform resetTrackingFloorFrame; + find_plane_status = zed.findFloorPlane(plane, resetTrackingFloorFrame); + if (find_plane_status != ERROR_CODE::SUCCESS) + std::cout << "No plane found" << std::endl; + ts_last = chrono::high_resolution_clock::now(); + } + + if(find_plane_status == ERROR_CODE::SUCCESS) { + mesh = plane.extractMesh(); + viewer.updateMesh(mesh, plane.type); + } + } + + user_action = viewer.updateImageAndState(image, pose.pose_data, tracking_state); + } + } + + image.free(); + mesh.clear(); + + zed.disablePositionalTracking(); + zed.close(); + return EXIT_SUCCESS; +} + +void parseArgs(int argc, char **argv,sl::InitParameters& param) +{ + if (argc > 1 && string(argv[1]).find(".svo")!=string::npos) { + // SVO input mode + param.input.setFromSVOFile(argv[1]); + cout<<"[Sample] Using SVO File input: "< 1 && string(argv[1]).find(".svo")==string::npos) { + string arg = string(argv[1]); + unsigned int a,b,c,d,port; + if (sscanf(arg.c_str(),"%u.%u.%u.%u:%d", &a, &b, &c, &d,&port) == 5) { + // Stream input mode - IP + port + string ip_adress = to_string(a)+"."+to_string(b)+"."+to_string(c)+"."+to_string(d); + param.input.setFromStream(sl::String(ip_adress.c_str()),port); + cout<<"[Sample] Using Stream input, IP : "< + + + + + diff --git a/plane detection/overview/csharp/CMakeLists.txt b/plane detection/overview/csharp/CMakeLists.txt new file mode 100644 index 00000000..99299a47 --- /dev/null +++ b/plane detection/overview/csharp/CMakeLists.txt @@ -0,0 +1,45 @@ +cmake_minimum_required( VERSION 3.8.0 ) + +project(ZED_Plane_Detection CSharp) + +add_executable(${PROJECT_NAME} + Program.cs + MainWindow.cs + GLViewer.cs + App.config + packages.config + Properties/AssemblyInfo.cs +) + +# Set the target platform to x64, since ZED SDK does not support 32-bits arch +target_compile_options(${PROJECT_NAME} PRIVATE "/platform:x64" ) + +# Set the .NET Framework version for the target. +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1") + +# Set the C# language version, otherwise default 3.0 is taken +set(CMAKE_CSharp_FLAGS "/langversion:7") + +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES + "Microsoft.CSharp" + "PresentationCore" + "PresentationFramework" + "System" + "System.Xaml" + "System.Data" + "System.Linq" + "System.Windows" + "System.Windows.Forms" + "System.Numerics" + "System.Drawing" + "WindowsBase" +) + +set(CMAKE_SUPPRESS_REGENERATION true) + + +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_PACKAGE_REFERENCES + "OpenGL.Net_0.8.4" + "OpenGL.Net.CoreUI_0.8.4" + "Stereolabs.zed_3.7.*" +) \ No newline at end of file diff --git a/plane detection/overview/csharp/GLViewer.cs b/plane detection/overview/csharp/GLViewer.cs new file mode 100644 index 00000000..40a0c34e --- /dev/null +++ b/plane detection/overview/csharp/GLViewer.cs @@ -0,0 +1,567 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Numerics; +using System.Runtime.InteropServices; +using OpenGL; +using OpenGL.CoreUI; +using System.Windows.Input; + +namespace sl +{ + + public struct UserAction + { + public bool pressSpace; + public bool hit; + public Vector2 hitCoord; + + public void clear() + { + pressSpace = false; + hit = false; + } + }; + + class GLViewer + { + public GLViewer(Resolution res) + { + image_handler = new ImageHandler(res); + available = false; + currentInstance = this; + pose = Matrix4x4.Identity; + userAction = new UserAction(); + tracking_state = POSITIONAL_TRACKING_STATE.OFF; + + meshObject = new MeshObject(); + } + + public bool isAvailable() + { + return available; + } + + + public void init(CameraParameters param) + { + image_handler.initialize(); + + Gl.Enable(EnableCap.FramebufferSrgb); + + // Create the rendering camera + setRenderCameraProjection(param, 0.1f, 50); + + meshObject.alloc(); + + userAction.hitCoord = new Vector2(0.5f, 0.5f); + available = true; + } + + public void updateImageAndState(Mat image, Pose pose_, POSITIONAL_TRACKING_STATE track_state) + { + if (available) + { + image_handler.pushNewImage(image); + + pose = Matrix4x4.Identity; + pose = Matrix4x4.Transform(pose, pose_.rotation); + pose.Translation = pose_.translation; + pose = Matrix4x4.Transpose(pose); + tracking_state = track_state; + + wnd_h = (int)image.GetResolution().height; + wnd_w = (int)image.GetResolution().width; + } + newData = true; + } + + public void updateMesh(Vector3[] vertices, int[] triangles, int nbVertices, int nbTriangles, PLANE_TYPE type, Vector3[] bounds, UserAction userAction) + { + meshObject.updateMesh(vertices, triangles, nbVertices, nbTriangles, bounds); + meshObject.type = type; + this.userAction = userAction; + } + + public void render() + { + if (available) + { + update(); + draw(); + } + } + + public void update() + { + if (newData) + { + meshObject.pushToGPU(); + newData = false; + } + } + + public void draw() + { + if (available) + { + image_handler.draw(); + + // If the Positional tracking is good, we can draw the mesh over the current image + Gl.Disable(EnableCap.Texture2d); + if (tracking_state == POSITIONAL_TRACKING_STATE.OK) + { + // Send the projection and the Pose to the GLSL shader to make the projection of the 2D image. + Matrix4x4.Invert(pose, out Matrix4x4 pose_inv); + Matrix4x4 vpMatrix = projection_ * pose_inv; + Gl.UseProgram(meshObject.shader.it.getProgramId()); + Gl.UniformMatrix4f((int)meshObject.shader.MVP_Mat, 1, true, vpMatrix); + + float3 clrPlane = getPlaneColor(meshObject.type); + Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill); + Gl.Uniform3f(meshObject.shader.shColorLoc, 1, clrPlane); + meshObject.draw(); + + Gl.LineWidth(0.5f); + Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line); + Gl.Uniform3f(meshObject.shader.shColorLoc, 1, clrPlane); + meshObject.draw(); + Gl.UseProgram(0); + Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill); + } + + + float cx = userAction.hitCoord.X * 2.0f - 1.0f; + float cy = (userAction.hitCoord.Y * 2.0f - 1.0f) * -1.0f; + + float lx = 0.02f; + float ly = lx * (wnd_w/(1.0f * wnd_h)); + + Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line); + Gl.LineWidth(2.0f); + Gl.Color3(0.2f, 0.45f, 0.9f); + Gl.Begin(PrimitiveType.Lines); + Gl.Vertex3(cx - lx, cy, 0.0f); + Gl.Vertex3(cx + lx, cy, 0.0f); + Gl.Vertex3(cx, cy - ly, 0.0f); + Gl.Vertex3(cx, cy + ly, 0.0f); + Gl.End(); + Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill); + } + } + + private void setRenderCameraProjection(CameraParameters camParams, float znear, float zfar) + { + float PI = 3.141592653f; + // Just slightly up the ZED camera FOV to make a small black border + float fov_y = (camParams.vFOV+0.5f) *PI / 180; + float fov_x = (camParams.hFOV+0.5f) * PI / 180; + + projection_.M11 = 1.0f / (float)Math.Tan(fov_x * 0.5f); + projection_.M22 = 1.0f / (float)Math.Tan(fov_y * 0.5f); + projection_.M33 = -(zfar + znear) / (zfar - znear); + projection_.M43 = -1; + projection_.M34 = -(2.0f * zfar * znear) / (zfar - znear); + projection_.M44 = 0; + + projection_.M12 = 0; + projection_.M13 = 2.0f * (((int)camParams.resolution.width - 1.0f * camParams.cx) / (int)camParams.resolution.width) -1.0f; //Horizontal offset. + projection_.M14 = 0; + + projection_.M21 = 0; + projection_.M23 = -(2.0f * (((int)camParams.resolution.height -1.0f * camParams.cy) / (int)camParams.resolution.height) -1.0f); //Vertical offset. + projection_.M24 = 0; + + projection_.M31 = 0; + projection_.M32 = 0; + + projection_.M41 = 0; + projection_.M42 = 0; + } + + public float3 getPlaneColor(PLANE_TYPE type) + { + float3 clr = new float3(); + + switch (type) + { + case PLANE_TYPE.HIT_HORIZONTAL: + clr = new float3(0.65f, 0.95f, 0.35f); + break; + case PLANE_TYPE.HIT_VERTICAL: + clr = new float3(0.95f, 0.35f, 0.65f); + break; + case PLANE_TYPE.HIT_UNKNOWN: + clr = new float3(0.35f, 0.65f, 0.95f); + break; + default: + clr = new float3(0.65f, 0.95f, 0.35f); + break; + } + return clr; + } + + public void exit() + { + if (currentInstance != null) + { + image_handler.close(); + available = false; + } + } + + bool available; + + // OpenGL camera projection matrix + Matrix4x4 projection_; + + Matrix4x4 pose; + sl.POSITIONAL_TRACKING_STATE tracking_state; + UserAction userAction; + + bool newData; + int wnd_w = 0; + int wnd_h = 0; + + MeshObject meshObject; + ImageHandler image_handler; + + GLViewer currentInstance; + } + + class MeshObject + { + public uint vaoID_; + public uint[] vboID_; + public int currentFC; + public bool needUpdate; + + public PLANE_TYPE type; + public ShaderData shader; + + public Vector3[] vertices_; + public float[] edgeDist_; + public int[] triangles_; + + public MeshObject() + { + vaoID_ = 0; + vboID_ = new uint[3]; + currentFC = 0; + needUpdate = false; + + type = PLANE_TYPE.FLOOR; + shader = new ShaderData(); + + } + + public void alloc() + { + vaoID_ = Gl.GenVertexArray(); + Gl.GenBuffers(vboID_); + shader.it = new Shader(Shader.MESH_VERTEX_SHADER, Shader.MESH_FRAGMENT_SHADER); + shader.MVP_Mat = Gl.GetUniformLocation(shader.it.getProgramId(), "u_mvpMatrix"); + shader.shColorLoc = Gl.GetUniformLocation(shader.it.getProgramId(), "u_color"); + } + + public void updateMesh(Vector3[] vertices, int[] triangles, int nbVertices, int nbTriangles, Vector3[] bounds) + { + if (!needUpdate) + { + vertices_ = new Vector3[nbVertices / 3]; + Array.Copy(vertices, vertices_, nbVertices / 3); + triangles_ = new int[nbTriangles]; + Array.Copy(triangles, triangles_, nbTriangles); + + edgeDist_ = new float[vertices_.Length]; + + for (int i = 0; i < edgeDist_.Count(); i++) + { + float dMin = float.MaxValue; + Vector3 vCurrent = vertices[i]; + for (int j = 0; j < bounds.Length; j++) + { + float distCurrent = Vector3.Distance(vCurrent, bounds[j]); + if (distCurrent < dMin) + { + dMin = distCurrent; + } + } + edgeDist_[i] = dMin >= 0.002f ? 0.4f : 0.0f; + } + needUpdate = true; + } + } + + public void pushToGPU() + { + if (vaoID_ == 0) + { + vaoID_ = Gl.GenVertexArray(); + Gl.GenBuffers(vboID_); + } + + if (needUpdate) + { + Gl.BindVertexArray(vaoID_); + + if(vertices_.Count() > 0) + { + Gl.BindBuffer(BufferTarget.ArrayBuffer, vboID_[0]); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)vertices_.Length * sizeof(float) * 3, vertices_, BufferUsage.DynamicDraw); + Gl.VertexAttribPointer(Shader.ATTRIB_VERTICES_POS, 3, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.EnableVertexAttribArray(Shader.ATTRIB_VERTICES_POS); + } + if (edgeDist_.Count() > 0) + { + Gl.BindBuffer(BufferTarget.ArrayBuffer, vboID_[1]); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)edgeDist_.Length * sizeof(float), edgeDist_, BufferUsage.DynamicDraw); + Gl.VertexAttribPointer(Shader.ATTRIB_VERTICES_DIST, 1, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.EnableVertexAttribArray(Shader.ATTRIB_VERTICES_DIST); + } + if (triangles_.Count() > 0) + { + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, vboID_[2]); + Gl.BufferData(BufferTarget.ElementArrayBuffer, (uint)triangles_.Length * sizeof(int), triangles_, BufferUsage.DynamicDraw); + + currentFC = triangles_.Count(); + } + + Gl.BindVertexArray(0); + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, 0); + Gl.BindBuffer(BufferTarget.ArrayBuffer, 0); + needUpdate = false; + } + } + + public void draw() + { + if (currentFC > 0 && vaoID_ != 0) + { + Gl.BindVertexArray(vaoID_); + Gl.DrawElements(PrimitiveType.Triangles, currentFC, DrawElementsType.UnsignedInt, IntPtr.Zero); + Gl.BindVertexArray(0); + } + } + } + + class ImageHandler + { + public ImageHandler(Resolution res) { + resolution = res; + } + + // Initialize Opengl buffers + public void initialize() + { + shaderImage.it = new Shader(Shader.IMAGE_VERTEX_SHADER, Shader.IMAGE_FRAGMENT_SHADER); + texID = Gl.GetUniformLocation(shaderImage.it.getProgramId(), "texImage"); + + float[] g_quad_vertex_buffer_data = new float[18]{ + -1.0f, -1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + 1.0f, 1, 0.0f}; + + quad_vb = Gl.GenBuffer(); + Gl.BindBuffer(BufferTarget.ArrayBuffer, quad_vb); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)(sizeof(float) * g_quad_vertex_buffer_data.Length), g_quad_vertex_buffer_data, BufferUsage.StaticDraw); + Gl.BindBuffer(BufferTarget.ArrayBuffer, 0); + + Gl.Enable(EnableCap.Texture2d); + imageTex = Gl.GenTexture(); + Gl.BindTexture(TextureTarget.Texture2d, imageTex); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureWrapS, Gl.CLAMP_TO_BORDER); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureWrapT, Gl.CLAMP_TO_BORDER); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureWrapR, Gl.CLAMP_TO_BORDER); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureMinFilter, Gl.LINEAR); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureMagFilter, Gl.LINEAR); + Gl.TexImage2D(TextureTarget.Texture2d, 0, InternalFormat.Rgba, (int)resolution.width, (int)resolution.height, 0, PixelFormat.Rgba, PixelType.UnsignedByte, null); + Gl.BindTexture(TextureTarget.Texture2d, 0); + } + + public void pushNewImage(Mat zedImage) + { + // Update Texture with current zedImage + Gl.Enable(EnableCap.Texture2d); + Gl.TexSubImage2D(TextureTarget.Texture2d, 0, 0, 0, zedImage.GetWidth(), zedImage.GetHeight(), PixelFormat.Rgba, PixelType.UnsignedByte, zedImage.GetPtr()); + } + + // Draw the Image + public void draw() + { + Gl.UseProgram(shaderImage.it.getProgramId()); + Gl.ActiveTexture(TextureUnit.Texture0); + Gl.BindTexture(TextureTarget.Texture2d, imageTex); + Gl.Uniform1(texID, 0); + + Gl.Uniform1(Gl.GetUniformLocation(shaderImage.it.getProgramId(), "revert"), 1); + Gl.Uniform1(Gl.GetUniformLocation(shaderImage.it.getProgramId(), "rgbflip"), 1); + + Gl.EnableVertexAttribArray(0); + Gl.BindBuffer(BufferTarget.ArrayBuffer, quad_vb); + Gl.VertexAttribPointer(0, 3, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.DrawArrays(PrimitiveType.Triangles, 0, 6); + Gl.DisableVertexAttribArray(0); + Gl.UseProgram(0); + } + + public void close() + { + Gl.DeleteTextures(imageTex); + } + + private int texID; + private uint imageTex; + + private ShaderData shaderImage; + private Resolution resolution; + private uint quad_vb; + + }; + + class Shader + { + + public static readonly string[] IMAGE_VERTEX_SHADER = new string[] { + "#version 330\n", + "layout(location = 0) in vec3 vert;\n", + "out vec2 UV;", + "void main() {\n", + " UV = (vert.xy+vec2(1,1))/2;\n", + " gl_Position = vec4(vert, 1);\n", + "}\n" + }; + + public static readonly string[] IMAGE_FRAGMENT_SHADER = new string[] { + "#version 330 core\n", + "in vec2 UV;\n", + "out vec4 color;\n", + "uniform sampler2D texImage;\n", + "uniform bool revert;\n", + "uniform bool rgbflip;\n", + "void main() {\n", + " vec2 scaler = revert?vec2(UV.x,1.f - UV.y):vec2(UV.x,UV.y);\n", + " vec3 rgbcolor = rgbflip?vec3(texture(texImage, scaler).zyx):vec3(texture(texImage, scaler).xyz);\n", + " float gamma = 1.0/1.65;\n", + " vec3 color_rgb = pow(rgbcolor, vec3(1.0/gamma));;\n", + " color = vec4(color_rgb,1);\n", + "}" + }; + + public static readonly string[] MESH_VERTEX_SHADER = new string[] { + "#version 330 core\n", + "layout(location = 0) in vec3 in_vertex;\n", + "layout(location = 1) in float in_dist;\n", + "uniform mat4 u_mvpMatrix;\n", + "uniform vec3 u_color;\n", + "out vec3 b_color;\n", + "out float distance;\n", + "void main() {\n", + " b_color = u_color;\n", + " distance = in_dist;\n", + " gl_Position = u_mvpMatrix * vec4(in_vertex, 1);\n", + "}" + }; + + public static readonly string[] MESH_FRAGMENT_SHADER = new string[] { + "#version 330 core\n", + "in vec3 b_color;\n", + "in float distance;\n", + "layout(location = 0) out vec4 color;\n", + "void main() {\n", + " color = vec4(b_color, distance);\n", + "}" + }; + + public Shader(string[] vs, string[] fs) + { + if (!compile(ref verterxId_, ShaderType.VertexShader, vs)) + { + Console.WriteLine("ERROR: while compiling vertex shader"); + } + if (!compile(ref fragmentId_, ShaderType.FragmentShader, fs)) + { + Console.WriteLine("ERROR: while compiling fragment shader"); + } + + programId_ = Gl.CreateProgram(); + + Gl.AttachShader(programId_, verterxId_); + Gl.AttachShader(programId_, fragmentId_); + + Gl.BindAttribLocation(programId_, ATTRIB_VERTICES_POS, "in_vertex"); + + Gl.LinkProgram(programId_); + + int errorlk = 0; + Gl.GetProgram(programId_, ProgramProperty.LinkStatus, out errorlk); + if (errorlk != Gl.TRUE) + { + Console.WriteLine("ERROR: while linking Shader :"); + int errorSize = 0; + Gl.GetProgram(programId_, ProgramProperty.InfoLogLength, out errorSize); + StringBuilder error = new StringBuilder(1024); + Gl.GetShaderInfoLog(programId_, errorSize, out errorSize, error); + Console.WriteLine(error.ToString()); + error.Clear(); + Gl.DeleteProgram(programId_); + } + } + + public uint getProgramId() + { + return programId_; + } + + public static uint ATTRIB_VERTICES_POS = 0; + public static uint ATTRIB_VERTICES_DIST = 1; + + private bool compile(ref uint shaderId, ShaderType type, string[] src) + { + int errorcp = 0; + + shaderId = Gl.CreateShader(type); + if (shaderId == 0) + { + Console.WriteLine("ERROR: shader type (" + type + ") does not exist"); + } + + Gl.ShaderSource(shaderId, src); + Gl.CompileShader(shaderId); + Gl.GetShader(shaderId, ShaderParameterName.CompileStatus, out errorcp); + + if (errorcp != Gl.TRUE) + { + Console.WriteLine("ERROR: while compiling Shader :"); + int errorSize; + Gl.GetShader(shaderId, ShaderParameterName.InfoLogLength, out errorSize); + + StringBuilder error = new StringBuilder(1024); + Gl.GetShaderInfoLog(shaderId, errorSize, out errorSize, error); + + Console.WriteLine(error.ToString()); + error.Clear(); + + Gl.DeleteShader(shaderId); + return false; + } + return true; + } + + uint verterxId_; + uint fragmentId_; + uint programId_; + }; + + struct ShaderData + { + public Shader it; + public int MVP_Mat; + public int shColorLoc; + }; +} diff --git a/plane detection/overview/csharp/MainWindow.cs b/plane detection/overview/csharp/MainWindow.cs new file mode 100644 index 00000000..709e1755 --- /dev/null +++ b/plane detection/overview/csharp/MainWindow.cs @@ -0,0 +1,284 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Numerics; +using System.Net; +using System.Threading.Tasks; +using System.Windows.Forms; +using OpenGL; +using OpenGL.CoreUI; +using System.Diagnostics; + +namespace sl +{ + class MainWindow + { + GLViewer viewer; + Camera zedCamera; + RuntimeParameters runtimeParameters; + POSITIONAL_TRACKING_STATE tracking_state; + + // Positional tracking data + Pose cam_pose; + // Current left image + Mat zedMat; + // Detected plane + PlaneData plane; + // Plane mesh + Vector3[] planeMeshVertices; + int[] planeMeshTriangles; + UserAction userAction; + + int timer = 0; + int nbVertices = 0, nbTriangles = 0; + + ERROR_CODE findPlaneStatus; + + bool hasIMU = false; + + 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; + + 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; + } + + findPlaneStatus = ERROR_CODE.FAILURE; + tracking_state = POSITIONAL_TRACKING_STATE.OFF; + + hasIMU = zedCamera.GetSensorsConfiguration().gyroscope_parameters.isAvailable; + userAction = new UserAction(); + // Enable tracking + PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters(); + zedCamera.EnablePositionalTracking(ref positionalTrackingParameters); + + runtimeParameters = new RuntimeParameters(); + runtimeParameters.measure3DReferenceFrame = REFERENCE_FRAME.WORLD; + // Create ZED Objects filled in the main loop + zedMat = new Mat(); + cam_pose = new Pose(); + + //Create mesh. + planeMeshTriangles = new int[65000]; + planeMeshVertices = new Vector3[65000]; + plane = new PlaneData(); + 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)); + + // Create OpenGL window + CreateWindow(); + } + + // Create Window + public void CreateWindow() + { + using (OpenGL.CoreUI.NativeWindow nativeWindow = OpenGL.CoreUI.NativeWindow.Create()) + { + nativeWindow.ContextCreated += NativeWindow_ContextCreated; + nativeWindow.Render += NativeWindow_Render; + nativeWindow.MouseDown += NativeWindow_MouseDown; + nativeWindow.KeyDown += (object obj, NativeWindowKeyEventArgs e) => + { + switch (e.Key) + { + case KeyCode.Escape: + close(); + nativeWindow.Stop(); + break; + + case KeyCode.F: + nativeWindow.Fullscreen = !nativeWindow.Fullscreen; + break; + case KeyCode.Space: + userAction.pressSpace = true; + break; + } + }; + + + int wnd_h = Screen.PrimaryScreen.Bounds.Height; + int wnd_w = Screen.PrimaryScreen.Bounds.Width; + + int height = (int)(wnd_h * 0.9f); + int width = (int)(wnd_w * 0.9f); + + if (width > zedCamera.ImageWidth && height > zedCamera.ImageHeight) + { + width = zedCamera.ImageWidth; + height = zedCamera.ImageHeight; + } + + nativeWindow.Create((int)(zedCamera.ImageWidth * 0.05f), (int)(zedCamera.ImageHeight * 0.05f), (uint)width, (uint)height, NativeWindowStyle.Resizeable); + nativeWindow.Show(); + try + { + nativeWindow.Run(); + } + catch (Exception e) + { + Console.WriteLine("Mouse wheel is broken in the current OPENGL .NET VERSION. Please do not use it."); + } + } + } + + private void NativeWindow_MouseDown(object sender, NativeWindowMouseEventArgs e) + { + if (e.Buttons == MouseButton.Left) + { + userAction.hit = true; + Vector2 screenPos = new Vector2((float)e.Location.X / (float)zedCamera.ImageWidth, ((float)zedCamera.ImageHeight - (float)e.Location.Y) / (float)zedCamera.ImageHeight); + userAction.hitCoord = screenPos; + } + } + + // Init Window + private void NativeWindow_ContextCreated(object sender, NativeWindowEventArgs e) + { + OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender; + + Gl.ReadBuffer(ReadBufferMode.Back); + Gl.ClearColor(0.0f, 0.0f, 0.0f, 1.0f); + + Gl.Enable(EnableCap.Blend); + Gl.BlendFunc(BlendingFactor.SrcAlpha, BlendingFactor.OneMinusSrcAlpha); + + Gl.Enable(EnableCap.LineSmooth); + Gl.Hint(HintTarget.LineSmoothHint, HintMode.Nicest); + + viewer.init(zedCamera.GetCalibrationParameters().leftCam); + } + + // 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 (zedMat.IsInit()) + { + // Retrieve left image + err = zedCamera.RetrieveImage(zedMat, sl.VIEW.LEFT, sl.MEM.CPU); + // Update pose data (used for projection of the mesh over the current image) + tracking_state = zedCamera.GetPosition(ref cam_pose); + + if (tracking_state == POSITIONAL_TRACKING_STATE.OK) + { + timer++; + if (userAction.hit) + { + Vector2 imageClick = new Vector2((float)userAction.hitCoord.X * (float)zedCamera.ImageWidth, (float)userAction.hitCoord.Y * (float)zedCamera.ImageHeight); + findPlaneStatus = zedCamera.findPlaneAtHit(ref plane, imageClick); + if (findPlaneStatus == ERROR_CODE.SUCCESS) + { + zedCamera.convertHitPlaneToMesh(planeMeshVertices, planeMeshTriangles, out nbVertices, out nbTriangles); + } + userAction.clear(); + } + //if 500ms have spend since last request (for 60fps) + if (timer % 30 == 0 && userAction.pressSpace) + { + // Update pose data (used for projection of the mesh over the current image) + Quaternion priorQuat = Quaternion.Identity; + Vector3 priorTrans = Vector3.Zero; + findPlaneStatus = zedCamera.findFloorPlane(ref plane, out float playerHeight, priorQuat, priorTrans); + + if (findPlaneStatus == ERROR_CODE.SUCCESS) + { + zedCamera.convertFloorPlaneToMesh(planeMeshVertices, planeMeshTriangles, out nbVertices, out nbTriangles); + } + userAction.clear(); + } + } + if (findPlaneStatus == ERROR_CODE.SUCCESS) + { + viewer.updateMesh(planeMeshVertices, planeMeshTriangles, nbVertices, nbTriangles, plane.Type, plane.Bounds, userAction); + } + viewer.updateImageAndState(zedMat, cam_pose, tracking_state); + viewer.render(); + } + } + } + + private void close() + { + zedCamera.DisablePositionalTracking(); + zedCamera.Close(); + viewer.exit(); + } + + private void parseArgs(string[] args , ref sl.InitParameters param) + { + if (args.Length > 0 && args[0].IndexOf(".svo") != -1) + { + // SVO input mode + param.inputType = INPUT_TYPE.SVO; + param.pathSVO = args[0]; + Console.WriteLine("[Sample] Using SVO File input: " + args[0]); + } + else if (args.Length > 0 && args[0].IndexOf(".svo") == -1) + { + IPAddress ip; + string arg = args[0]; + if (IPAddress.TryParse(arg, out ip)) + { + // Stream input mode - IP + port + param.inputType = INPUT_TYPE.STREAM; + param.ipStream = ip.ToString(); + Console.WriteLine("[Sample] Using Stream input, IP : " + ip); + } + else if (args[0].IndexOf("HD2K") != -1) + { + param.resolution = sl.RESOLUTION.HD2K; + Console.WriteLine("[Sample] Using Camera in resolution HD2K"); + } + else if (args[0].IndexOf("HD1080") != -1) + { + param.resolution = sl.RESOLUTION.HD1080; + Console.WriteLine("[Sample] Using Camera in resolution HD1080"); + } + else if (args[0].IndexOf("HD720") != -1) + { + param.resolution = sl.RESOLUTION.HD720; + Console.WriteLine("[Sample] Using Camera in resolution HD720"); + } + else if (args[0].IndexOf("VGA") != -1) + { + param.resolution = sl.RESOLUTION.VGA; + Console.WriteLine("[Sample] Using Camera in resolution VGA"); + } + } + else + { + // + } + } + } +} diff --git a/plane detection/overview/csharp/Program.cs b/plane detection/overview/csharp/Program.cs new file mode 100644 index 00000000..9504e1bd --- /dev/null +++ b/plane detection/overview/csharp/Program.cs @@ -0,0 +1,15 @@ +//======= Copyright (c) Stereolabs Corporation, All rights reserved. =============== +using System; +using System.Runtime.InteropServices; +using System.Threading.Tasks; + +namespace sl +{ + class Program + { + static void Main(string[] args) + { + MainWindow window = new MainWindow(args); + } + } +} \ No newline at end of file diff --git a/plane detection/overview/csharp/Properties/AssemblyInfo.cs b/plane detection/overview/csharp/Properties/AssemblyInfo.cs new file mode 100644 index 00000000..580aea52 --- /dev/null +++ b/plane detection/overview/csharp/Properties/AssemblyInfo.cs @@ -0,0 +1,36 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// General Information about an assembly is controlled through the following +// set of attributes. Change these attribute values to modify the information +// associated with an assembly. +[assembly: AssemblyTitle("Tutorials")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("Tutorials")] +[assembly: AssemblyCopyright("Copyright © 2021")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// Setting ComVisible to false makes the types in this assembly not visible +// to COM components. If you need to access a type in this assembly from +// COM, set the ComVisible attribute to true on that type. +[assembly: ComVisible(false)] + +// The following GUID is for the ID of the typelib if this project is exposed to COM +[assembly: Guid("db8455c8-b2a9-4e62-9597-7b26c432a999")] + +// Version information for an assembly consists of the following four values: +// +// Major Version +// Minor Version +// Build Number +// Revision +// +// You can specify all the values or you can default the Build and Revision Numbers +// by using the '*' as shown below: +// [assembly: AssemblyVersion("1.0.*")] +[assembly: AssemblyVersion("1.0.0.0")] +[assembly: AssemblyFileVersion("1.0.0.0")] diff --git a/plane detection/overview/csharp/Properties/Resources.Designer.cs b/plane detection/overview/csharp/Properties/Resources.Designer.cs new file mode 100644 index 00000000..54694871 --- /dev/null +++ b/plane detection/overview/csharp/Properties/Resources.Designer.cs @@ -0,0 +1,63 @@ +//------------------------------------------------------------------------------ +// +// Ce code a été généré par un outil. +// Version du runtime :4.0.30319.42000 +// +// Les modifications apportées à ce fichier peuvent provoquer un comportement incorrect et seront perdues si +// le code est régénéré. +// +//------------------------------------------------------------------------------ + +namespace Image_capture.Properties { + using System; + + + /// + /// Une classe de ressource fortement typée destinée, entre autres, à la consultation des chaînes localisées. + /// + // Cette classe a été générée automatiquement par la classe StronglyTypedResourceBuilder + // à l'aide d'un outil, tel que ResGen ou Visual Studio. + // Pour ajouter ou supprimer un membre, modifiez votre fichier .ResX, puis réexécutez ResGen + // avec l'option /str ou régénérez votre projet VS. + [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "15.0.0.0")] + [global::System.Diagnostics.DebuggerNonUserCodeAttribute()] + [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] + internal class Resources { + + private static global::System.Resources.ResourceManager resourceMan; + + private static global::System.Globalization.CultureInfo resourceCulture; + + [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")] + internal Resources() { + } + + /// + /// Retourne l'instance ResourceManager mise en cache utilisée par cette classe. + /// + [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] + internal static global::System.Resources.ResourceManager ResourceManager { + get { + if (object.ReferenceEquals(resourceMan, null)) { + global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("Image_capture.Properties.Resources", typeof(Resources).Assembly); + resourceMan = temp; + } + return resourceMan; + } + } + + /// + /// Remplace la propriété CurrentUICulture du thread actuel pour toutes + /// les recherches de ressources à l'aide de cette classe de ressource fortement typée. + /// + [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] + internal static global::System.Globalization.CultureInfo Culture { + get { + return resourceCulture; + } + set { + resourceCulture = value; + } + } + } +} diff --git a/plane detection/overview/csharp/Properties/Resources.resx b/plane detection/overview/csharp/Properties/Resources.resx new file mode 100644 index 00000000..af7dbebb --- /dev/null +++ b/plane detection/overview/csharp/Properties/Resources.resx @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + \ No newline at end of file diff --git a/plane detection/overview/csharp/Properties/Settings.Designer.cs b/plane detection/overview/csharp/Properties/Settings.Designer.cs new file mode 100644 index 00000000..84a7c738 --- /dev/null +++ b/plane detection/overview/csharp/Properties/Settings.Designer.cs @@ -0,0 +1,26 @@ +//------------------------------------------------------------------------------ +// +// Ce code a été généré par un outil. +// Version du runtime :4.0.30319.42000 +// +// Les modifications apportées à ce fichier peuvent provoquer un comportement incorrect et seront perdues si +// le code est régénéré. +// +//------------------------------------------------------------------------------ + +namespace Image_capture.Properties { + + + [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] + [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "15.9.0.0")] + internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase { + + private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings()))); + + public static Settings Default { + get { + return defaultInstance; + } + } + } +} diff --git a/plane detection/overview/csharp/Properties/Settings.settings b/plane detection/overview/csharp/Properties/Settings.settings new file mode 100644 index 00000000..033d7a5e --- /dev/null +++ b/plane detection/overview/csharp/Properties/Settings.settings @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/plane detection/overview/csharp/README.md b/plane detection/overview/csharp/README.md new file mode 100644 index 00000000..fa65db3b --- /dev/null +++ b/plane detection/overview/csharp/README.md @@ -0,0 +1,24 @@ +# ZED SDK - Plane Detection + +This sample shows how to retrieve surfaces data. + +## Getting Started +- Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/), NuGet packages are automatically downloaded + - Check the [Documentation](https://www.stereolabs.com/docs/) + +## Build the program + - Build for [Windows](https://www.stereolabs.com/docs/app-development/cpp/windows/) + +## Run the program +- Navigate to the build directory and launch the executable +- Or open a terminal in the build directory and run the sample : + + ./ZED_Plane_Detection + +### Features + - Live image is displayed in an OpenGL window + - click on the image to estimate the plane of the pointed surface + - press 'Spacebar' to estimate the floor plane + +## Support +If you need assistance go to our Community site at https://community.stereolabs.com/ \ No newline at end of file diff --git a/plane 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zfS=}MUJ+*IGp2Lp*Lep;Vl>^?v{dy+Kz1 literal 0 HcmV?d00001 diff --git a/plane detection/overview/python/README.md b/plane detection/overview/python/README.md new file mode 100644 index 00000000..ac851911 --- /dev/null +++ b/plane detection/overview/python/README.md @@ -0,0 +1,19 @@ +# ZED SDK - Plane Detection + +This sample shows how to retrieve surfaces data. + +## Getting Started + - Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/) and [pyZED Package](https://www.stereolabs.com/docs/app-development/python/install/) + - Check the [Documentation](https://www.stereolabs.com/docs/) + +## Run the program + + python "plane_detection.py" + +### Features + - Live image is displayed in an OpenGL window + - click on the image to estimate the plane of the pointed surface + - press 'Spacebar' to estimate the floor plane + +## Support +If you need assistance go to our Community site at https://community.stereolabs.com/ \ No newline at end of file diff --git a/plane detection/overview/python/ogl_viewer/viewer.py b/plane detection/overview/python/ogl_viewer/viewer.py new file mode 100644 index 00000000..7623219f --- /dev/null +++ b/plane detection/overview/python/ogl_viewer/viewer.py @@ -0,0 +1,513 @@ +from OpenGL.GL import * +from OpenGL.GLU import * +from OpenGL.GLUT import * + +from threading import Lock +import numpy as np +import sys +import array +import math +import ctypes +import pyzed.sl as sl + +M_PI = 3.1415926 + +MESH_VERTEX_SHADER = """ +#version 330 core +layout(location = 0) in vec3 in_Vertex; +layout(location = 1) in float in_dist; +uniform mat4 u_mvpMatrix; +uniform vec3 u_color; +out vec3 b_color; +out float distance; +void main() { + b_color = u_color; + distance = in_dist; + gl_Position = u_mvpMatrix * vec4(in_Vertex, 1); +} +""" + +MESH_FRAGMENT_SHADER = """ +#version 330 core +in vec3 b_color; +in float distance; +layout(location = 0) out vec4 color; +void main() { + color = vec4(b_color,distance); +}; +""" + +IMAGE_FRAGMENT_SHADER = """ +#version 330 core +in vec2 UV; +out vec4 color; +uniform sampler2D texImage; +uniform bool revert; +uniform bool rgbflip; +void main() { + vec2 scaler =revert?vec2(UV.x,1.f - UV.y):vec2(UV.x,UV.y); + vec3 rgbcolor = rgbflip?vec3(texture(texImage, scaler).zyx):vec3(texture(texImage, scaler).xyz); + color = vec4(rgbcolor,1); +} +""" + +IMAGE_VERTEX_SHADER = """ +#version 330 +layout(location = 0) in vec3 vert; +out vec2 UV; +void main() { + UV = (vert.xy+vec2(1,1))/2; + gl_Position = vec4(vert, 1); +} +""" + +def get_plane_color(_type): + """ + Get plane color according to its type + """ + plane_clr_map = { + sl.PLANE_TYPE.HORIZONTAL : [0.65, 0.95, 0.35], + sl.PLANE_TYPE.VERTICAL : [0.95, 0.35, 0.65], + sl.PLANE_TYPE.UNKNOWN : [0.35, 0.65, 0.95], + sl.PLANE_TYPE.LAST : [0.,0.,0.] + } + return plane_clr_map.get(_type, "Unknown type") + +class Shader: + def __init__(self, _vs, _fs): + self.program_id = glCreateProgram() + vertex_id = self.compile(GL_VERTEX_SHADER, _vs) + fragment_id = self.compile(GL_FRAGMENT_SHADER, _fs) + + glAttachShader(self.program_id, vertex_id) + glAttachShader(self.program_id, fragment_id) + glBindAttribLocation( self.program_id, 0, "in_vertex") + glBindAttribLocation( self.program_id, 1, "in_texCoord") + glLinkProgram(self.program_id) + + if glGetProgramiv(self.program_id, GL_LINK_STATUS) != GL_TRUE: + info = glGetProgramInfoLog(self.program_id) + glDeleteProgram(self.program_id) + glDeleteShader(vertex_id) + glDeleteShader(fragment_id) + raise RuntimeError('Error linking program: %s' % (info)) + glDeleteShader(vertex_id) + glDeleteShader(fragment_id) + + def compile(self, _type, _src): + try: + shader_id = glCreateShader(_type) + if shader_id == 0: + print("ERROR: shader type {0} does not exist".format(_type)) + exit() + + glShaderSource(shader_id, _src) + glCompileShader(shader_id) + if glGetShaderiv(shader_id, GL_COMPILE_STATUS) != GL_TRUE: + info = glGetShaderInfoLog(shader_id) + glDeleteShader(shader_id) + raise RuntimeError('Shader compilation failed: %s' % (info)) + return shader_id + except: + glDeleteShader(shader_id) + raise + + def get_program_id(self): + return self.program_id + +class MeshObject: + def __init__(self): + self.current_fc = 0 + self.need_update = False + self.vert = [] + self.edge_dist = array.array('f') + self.tri = [] + self.type = sl.PLANE_TYPE.UNKNOWN + + def alloc(self): + self.vboID = glGenBuffers(3) + self.shader_image = Shader(MESH_VERTEX_SHADER, MESH_FRAGMENT_SHADER) + self.shader_MVP = glGetUniformLocation(self.shader_image.get_program_id(), "u_mvpMatrix") + self.shader_color_loc = glGetUniformLocation(self.shader_image.get_program_id(), "u_color") + + def update_mesh(self, _vertices, _triangles, _border): + if not self.need_update: + self.vert = _vertices.flatten().astype(np.float32) + self.tri = _triangles.flatten().astype(np.uintc) + + # Resize edge_dist vector + self.edge_dist = array.array('f') + for i in range(len(_vertices)): + self.edge_dist.append(0.) + + for i in range(len(self.edge_dist)): + d_min = sys.float_info.max + v_current = _vertices[i] + for j in range(len(_border)): + dist_current = np.linalg.norm(v_current - _vertices[_border[j]]) + if dist_current < d_min: + d_min = dist_current + if d_min >= 0.002: + self.edge_dist[i] = 0.4 + else: + self.edge_dist[i] = 0.0 + self.need_update = True + + def push_to_GPU(self): + if self.need_update: + if len(self.vert): + glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0]) + glBufferData(GL_ARRAY_BUFFER, len(self.vert) * self.vert.itemsize , (GLfloat * len(self.vert))(*self.vert), GL_DYNAMIC_DRAW) + + if len(self.edge_dist): + glBindBuffer(GL_ARRAY_BUFFER, self.vboID[1]) + glBufferData(GL_ARRAY_BUFFER, len(self.edge_dist) * self.edge_dist.itemsize , (GLfloat * len(self.edge_dist))(*self.edge_dist), GL_DYNAMIC_DRAW) + + if len(self.tri): + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[2]) + glBufferData(GL_ELEMENT_ARRAY_BUFFER, len(self.tri) * self.tri.itemsize , (GLuint * len(self.tri))(*self.tri), GL_DYNAMIC_DRAW) + self.current_fc = self.tri.size + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0) + glBindBuffer(GL_ARRAY_BUFFER, 0) + self.need_update = False + + def draw(self): + if self.current_fc: + glEnableVertexAttribArray(0) + glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0]) + glVertexAttribPointer(0,3,GL_FLOAT,GL_FALSE,0,None) + + glEnableVertexAttribArray(1) + glBindBuffer(GL_ARRAY_BUFFER, self.vboID[1]) + glVertexAttribPointer(1,1,GL_FLOAT,GL_FALSE,0,None) + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[2]) + glDrawElements(GL_TRIANGLES, self.current_fc, GL_UNSIGNED_INT, None) + + glDisableVertexAttribArray(0) + glDisableVertexAttribArray(1) + +class UserAction: + def __init__(self): + self.press_space = False + self.hit = False + self.hit_coord = [] + + def clear(self): + self.press_space = False + self.hit = False + +class ImageHandler: + """ + Class that manages the image stream to render with OpenGL + """ + def __init__(self): + self.tex_id = 0 + self.image_tex = 0 + self.quad_vb = 0 + + def close(self): + if self.image_tex: + self.image_tex = 0 + + def initialize(self, _res): + self.shader_image = Shader(IMAGE_VERTEX_SHADER, IMAGE_FRAGMENT_SHADER) + self.tex_id = glGetUniformLocation( self.shader_image.get_program_id(), "texImage") + + g_quad_vertex_buffer_data = np.array([-1, -1, 0, + 1, -1, 0, + -1, 1, 0, + -1, 1, 0, + 1, -1, 0, + 1, 1, 0], np.float32) + + self.quad_vb = glGenBuffers(1) + glBindBuffer(GL_ARRAY_BUFFER, self.quad_vb) + glBufferData(GL_ARRAY_BUFFER, g_quad_vertex_buffer_data.nbytes, + g_quad_vertex_buffer_data, GL_STATIC_DRAW) + glBindBuffer(GL_ARRAY_BUFFER, 0) + + # Create and populate the texture + glEnable(GL_TEXTURE_2D) + + # Generate a texture name + self.image_tex = glGenTextures(1) + + # Select the created texture + glBindTexture(GL_TEXTURE_2D, self.image_tex) + + # Set the texture minification and magnification filters + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR) + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR) + + # Fill the texture with an image + # None means reserve texture memory, but texels are undefined + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, _res.width, _res.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, None) + + # Unbind the texture + glBindTexture(GL_TEXTURE_2D, 0) + + def push_new_image(self, _zed_mat): + glBindTexture(GL_TEXTURE_2D, self.image_tex) + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, _zed_mat.get_width(), _zed_mat.get_height(), GL_RGBA, GL_UNSIGNED_BYTE, ctypes.c_void_p(_zed_mat.get_pointer())) + glBindTexture(GL_TEXTURE_2D, 0) + + def draw(self): + glUseProgram(self.shader_image.get_program_id()) + glActiveTexture(GL_TEXTURE0) + glBindTexture(GL_TEXTURE_2D, self.image_tex) + glUniform1i(self.tex_id, 0) + + # invert y axis and color for this image + glUniform1i(glGetUniformLocation(self.shader_image.get_program_id(), "revert"), 1) + glUniform1i(glGetUniformLocation(self.shader_image.get_program_id(), "rgbflip"), 1) + + glEnableVertexAttribArray(0) + glBindBuffer(GL_ARRAY_BUFFER, self.quad_vb) + glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, ctypes.c_void_p(0)) + glDrawArrays(GL_TRIANGLES, 0, 6) + glDisableVertexAttribArray(0) + glBindTexture(GL_TEXTURE_2D, 0) + glUseProgram(0) + +class GLViewer: + """ + Class that manages the rendering in OpenGL + """ + def __init__(self): + self.available = False + self.mutex = Lock() + self.projection = sl.Matrix4f() + self.projection.set_identity() + self.znear = 0.1 + self.zfar = 100. + self.image_handler = ImageHandler() + self.pose = sl.Transform().set_identity() + self.tracking_state = sl.POSITIONAL_TRACKING_STATE.OFF + + self.mesh_object = MeshObject() + self.user_action = UserAction() + self.new_data = False + self.wnd_w = 0 + self.wnd_h = 0 + + def init(self, _params, _has_imu): + glutInit() + wnd_w = glutGet(GLUT_SCREEN_WIDTH) + wnd_h = glutGet(GLUT_SCREEN_HEIGHT) + width = wnd_w*0.9 + height = wnd_h*0.9 + + if width > _params.image_size.width and height > _params.image_size.height: + width = _params.image_size.width + height = _params.image_size.height + + glutInitWindowSize(int(width), int(height)) + glutInitWindowPosition(0, 0) # The window opens at the upper left corner of the screen + glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA) + glutCreateWindow("ZED Plane Detection") + + self.reshape_callback(width, height) + + glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, + GLUT_ACTION_CONTINUE_EXECUTION) + + glEnable(GL_BLEND) + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) + + glEnable(GL_LINE_SMOOTH) + glHint(GL_LINE_SMOOTH_HINT, GL_NICEST) + + # Initialize image renderer + self.image_handler.initialize(_params.image_size) + + # Create the rendering camera + self.set_render_camera_projection(_params) + + self.mesh_object.alloc() + + # Register the drawing function with GLUT + glutDisplayFunc(self.draw_callback) + # Register the function called when nothing happens + glutIdleFunc(self.idle) + # Register the function called when a key is pressed + glutKeyboardUpFunc(self.keyReleasedCallback) + # Register the function on window resizing + glutReshapeFunc(self.reshape_callback) + # Register the mouse callback function + glutMouseFunc(self.mouse_button_callback) + # Register the closing function + glutCloseFunc(self.close_func) + + self.use_imu = _has_imu + + self.user_action.hit_coord = [0.5,0.5] + + self.available = True + + def set_render_camera_projection(self, _params): + # Just slightly move up the ZED camera FOV to make a small black border + fov_y = (_params.v_fov + 0.5) * M_PI / 180 + fov_x = (_params.h_fov + 0.5) * M_PI / 180 + + self.projection[(0,0)] = 1. / math.tan(fov_x * .5) + self.projection[(1,1)] = 1. / math.tan(fov_y * .5) + self.projection[(2,2)] = -(self.zfar + self.znear) / (self.zfar - self.znear) + self.projection[(3,2)] = -1. + self.projection[(2,3)] = -(2. * self.zfar * self.znear) / (self.zfar - self.znear) + self.projection[(3,3)] = 0. + + def print_GL(self, _x, _y, _string): + glRasterPos(_x, _y) + for i in range(len(_string)): + glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, ctypes.c_int(ord(_string[i]))) + + def is_available(self): + if self.available: + glutMainLoopEvent() + return self.available + + def update_mesh(self, _mesh, _type): + self.mutex.acquire() + edges = _mesh.get_boundaries() + self.mesh_object.update_mesh(_mesh.vertices, _mesh.triangles, edges) + self.mesh_object.type = _type + self.mutex.release() + + def update_view(self, _image, _pose, _tracking_state): + self.mutex.acquire() + if self.available: + # update image + self.image_handler.push_new_image(_image) + self.pose = _pose + self.tracking_state = _tracking_state + self.new_data = True + self.mutex.release() + + copy = self.user_action + self.user_action.clear() + return copy + + def idle(self): + if self.available: + glutPostRedisplay() + + def exit(self): + if self.available: + self.available = False + self.image_handler.close() + + def close_func(self): + if self.available: + self.available = False + self.image_handler.close() + + def keyReleasedCallback(self, key, x, y): + if ord(key) == 113 or ord(key) == 27: # Esc or 'q' key + self.close_func() + if ord(key) == 32: # space bar + self.user_action.press_space = True + if ord(key) == 112: # 'p' key + self.user_action.hit = True + + def draw_callback(self): + if self.available: + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) + glClearColor(0, 0, 0, 1.0) + + self.mutex.acquire() + self.update() + self.draw() + self.print_text() + self.mutex.release() + + glutSwapBuffers() + glutPostRedisplay() + + def reshape_callback(self, _width, _height): + glViewport(0, 0, int(_width), int(_height)) + self.wnd_w = _width + self.wnd_h = _height + + def mouse_button_callback(self, _button, _state, _x, _y): + # Action right, left, middle click + if _button < 3: + if _state == GLUT_DOWN: + self.user_action.hit = True + self.user_action.hit_coord[0] = (_x / (1. * self.wnd_w)) + self.user_action.hit_coord[1] = (_y / (1. * self.wnd_h)) + + def update(self): + # Update GPU data + if self.new_data: + self.mesh_object.push_to_GPU() + self.new_data = False + + def draw(self): + if self.available: + self.image_handler.draw() + + # If the Positional tracking is good, we can draw the mesh over the current image + if self.tracking_state == sl.POSITIONAL_TRACKING_STATE.OK: + glDisable(GL_TEXTURE_2D) + # Send the projection and the Pose to the GLSL shader to make the projection of the 2D image + tmp = self.pose + tmp.inverse() + proj = (self.projection * tmp).m + vpMat = proj.flatten() + + glUseProgram(self.mesh_object.shader_image.get_program_id()) + glUniformMatrix4fv(self.mesh_object.shader_MVP, 1, GL_TRUE, (GLfloat * len(vpMat))(*vpMat)) + + # Get plane color according to its type + clr_plane = get_plane_color(self.mesh_object.type) + glLineWidth(0.5) + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE) + glUniform3fv(self.mesh_object.shader_color_loc, 1, (GLfloat * len(clr_plane))(*clr_plane)) + self.mesh_object.draw() + + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL) + glUniform3fv(self.mesh_object.shader_color_loc, 1, (GLfloat * len(clr_plane))(*clr_plane)) + self.mesh_object.draw() + glUseProgram(0) + + # Draw hit + cx = self.user_action.hit_coord[0] * 2.0 - 1.0 + cy = (self.user_action.hit_coord[1] * 2.0 - 1.0) * -1.0 + + lx = 0.02 + ly = lx * (self.wnd_w/(1.0*self.wnd_h)) + + glLineWidth(2) + glColor3f(0.2, 0.45, 0.9) + glBegin(GL_LINES) + glVertex3f(cx - lx, cy, 0.0) + glVertex3f(cx + lx, cy, 0.0) + glVertex3f(cx, cy - ly, 0.0) + glVertex3f(cx, cy + ly, 0.0) + glEnd() + + def print_text(self): + if self.available: + if self.tracking_state != sl.POSITIONAL_TRACKING_STATE.OK: + glColor4f(0.85, 0.25, 0.15, 1.) + state_str = "" + positional_tracking_state_str = "POSITIONAL TRACKING STATE : " + state_str = positional_tracking_state_str + str(self.tracking_state) + self.print_GL(-0.99, 0.9, str(state_str)) + else: + glColor4f(0.82, 0.82, 0.82, 1.0) + self.print_GL(-0.99, 0.9, "Press Space Bar to detect floor PLANE.") + self.print_GL(-0.99, 0.85, "Press 'p' key to get plane at hit.") + + if self.use_imu: + y_start = -0.99 + for plane_type in sl.PLANE_TYPE: + if plane_type != sl.PLANE_TYPE.LAST: + clr = get_plane_color(plane_type) + glColor4f(clr[0], clr[1], clr[2], 1.0) + self.print_GL(-0.99, y_start, str(plane_type)) + y_start = y_start + 0.05 + glColor4f(0.22, 0.22, 0.22, 1.) + self.print_GL(-0.99, y_start, "PLANES ORIENTATION :") diff --git a/plane detection/overview/python/plane_detection.py b/plane detection/overview/python/plane_detection.py new file mode 100644 index 00000000..5be29555 --- /dev/null +++ b/plane detection/overview/python/plane_detection.py @@ -0,0 +1,120 @@ +######################################################################## +# +# Copyright (c) 2022, STEREOLABS. +# +# All rights reserved. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +# +######################################################################## + +""" + This sample shows how to detect planes in a 3D scene and + displays it on an OpenGL window +""" +import sys +import pyzed.sl as sl +import time +import ogl_viewer.viewer as gl + +def main(): + print("Running Plane Detection sample ... Press 'q' to quit") + + # Create a camera object + zed = sl.Camera() + + # Set configuration parameters + init = sl.InitParameters() + init.coordinate_units = sl.UNIT.METER + init.coordinate_system = sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP # OpenGL coordinate system + + # If applicable, use the SVO given as parameter + # Otherwise use ZED live stream + if len(sys.argv) == 2: + filepath = sys.argv[1] + print("Reading SVO file: {0}".format(filepath)) + init.set_from_svo_file(filepath) + + # Open the camera + status = zed.open(init) + if status != sl.ERROR_CODE.SUCCESS: + print(repr(status)) + exit(1) + + # Get camera info and check if IMU data is available + camera_infos = zed.get_camera_information() + has_imu = camera_infos.sensors_configuration.gyroscope_parameters.is_available + + # Initialize OpenGL viewer + viewer = gl.GLViewer() + viewer.init(camera_infos.camera_configuration.calibration_parameters.left_cam, has_imu) + + image = sl.Mat() # current left image + pose = sl.Pose() # positional tracking data + plane = sl.Plane() # detected plane + mesh = sl.Mesh() # plane mesh + + find_plane_status = sl.ERROR_CODE.SUCCESS + tracking_state = sl.POSITIONAL_TRACKING_STATE.OFF + + # Timestamp of the last mesh request + last_call = time.time() + + user_action = gl.UserAction() + user_action.clear() + + # Enable positional tracking before starting spatial mapping + zed.enable_positional_tracking() + + runtime_parameters = sl.RuntimeParameters() + runtime_parameters.measure3D_reference_frame = sl.REFERENCE_FRAME.WORLD + + while viewer.is_available(): + if zed.grab(runtime_parameters) == sl.ERROR_CODE.SUCCESS: + # Retrieve left image + zed.retrieve_image(image, sl.VIEW.LEFT) + # Update pose data (used for projection of the mesh over the current image) + tracking_state = zed.get_position(pose) + + if tracking_state == sl.POSITIONAL_TRACKING_STATE.OK: + # Compute elapse time since the last call of plane detection + duration = time.time() - last_call + # Ask for a mesh update on mouse click + if user_action.hit: + image_click = [user_action.hit_coord[0] * camera_infos.camera_configuration.camera_resolution.width + , user_action.hit_coord[1] * camera_infos.camera_configuration.camera_resolution.height] + find_plane_status = zed.find_plane_at_hit(image_click, plane) + + # Check if 500 ms have elapsed since last mesh request + if duration > .5 and user_action.press_space: + # Update pose data (used for projection of the mesh over the current image) + reset_tracking_floor_frame = sl.Transform() + find_plane_status = zed.find_floor_plane(plane, reset_tracking_floor_frame) + last_call = time.time() + + if find_plane_status == sl.ERROR_CODE.SUCCESS: + mesh = plane.extract_mesh() + viewer.update_mesh(mesh, plane.type) + + user_action = viewer.update_view(image, pose.pose_data(), tracking_state) + + viewer.exit() + image.free(sl.MEM.CPU) + mesh.clear() + + # Disable modules and close camera + zed.disable_positional_tracking() + zed.close() + +if __name__ == "__main__": + main() diff --git a/positional tracking/cpp/CMakeLists.txt b/positional tracking/cpp/CMakeLists.txt index 2a02f4e5..85799c68 100644 --- a/positional tracking/cpp/CMakeLists.txt +++ b/positional tracking/cpp/CMakeLists.txt @@ -20,7 +20,7 @@ find_package(OpenGL REQUIRED) include_directories(${ZED_INCLUDE_DIRS}) include_directories(${GLEW_INCLUDE_DIRS}) -include_directories(${GLUT_INCLUDE_PATH}) +include_directories(${GLUT_INCLUDE_DIR}) include_directories(${CUDA_INCLUDE_DIRS}) include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include) diff --git a/positional tracking/cpp/src/main.cpp b/positional tracking/cpp/src/main.cpp index 4f14e5e2..ad266012 100644 --- a/positional tracking/cpp/src/main.cpp +++ b/positional tracking/cpp/src/main.cpp @@ -84,7 +84,7 @@ int main(int argc, char **argv) { #if IMU_ONLY SensorsData sensors_data; #endif - + while (viewer.isAvailable()) { if (zed.grab() == ERROR_CODE::SUCCESS) { // Get the position of the camera in a fixed reference frame (the World Frame) @@ -151,4 +151,3 @@ void parseArgs(int argc, char **argv, sl::InitParameters& param) { // Default } } - diff --git a/spatial mapping/advanced point cloud mapping/cpp/CMakeLists.txt b/spatial mapping/advanced point cloud mapping/cpp/CMakeLists.txt index 73e91986..7eaf5816 100644 --- a/spatial mapping/advanced point cloud mapping/cpp/CMakeLists.txt +++ b/spatial mapping/advanced point cloud mapping/cpp/CMakeLists.txt @@ -22,7 +22,7 @@ find_package(OpenGL REQUIRED) include_directories(${ZED_INCLUDE_DIRS}) include_directories(${OpenCV_INCLUDE_DIRS}) include_directories(${GLEW_INCLUDE_DIRS}) -include_directories(${GLUT_INCLUDE_PATH}) +include_directories(${GLUT_INCLUDE_DIR}) include_directories(${CUDA_INCLUDE_DIRS}) include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include) diff --git a/spatial mapping/overview/README.md b/spatial mapping/overview/README.md new file mode 100644 index 00000000..933f9199 --- /dev/null +++ b/spatial mapping/overview/README.md @@ -0,0 +1,11 @@ +# ZED SDK - Spatial Mapping + +## This sample shows how to map your environment. + +### Features + - Press 'Spacebar' to start/stop the mapping process + - real time overlay of the mesh to the image + - textures and post filters can be apply to the Mesh + - final mesh is saved + +![](spatial_mapping.jpg) \ No newline at end of file diff --git a/spatial mapping/overview/cpp/CMakeLists.txt b/spatial mapping/overview/cpp/CMakeLists.txt new file mode 100644 index 00000000..d0636769 --- /dev/null +++ b/spatial mapping/overview/cpp/CMakeLists.txt @@ -0,0 +1,54 @@ +CMAKE_MINIMUM_REQUIRED(VERSION 3.5) +PROJECT(ZED_Spatial_Mapping) + +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +SET(CMAKE_BUILD_TYPE "Release") + +option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON) + +if (NOT LINK_SHARED_ZED AND MSVC) + message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows") +endif() + +find_package(ZED 3 REQUIRED) +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +find_package(GLUT REQUIRED) +find_package(GLEW REQUIRED) +SET(OpenGL_GL_PREFERENCE GLVND) +find_package(OpenGL REQUIRED) + +include_directories(${ZED_INCLUDE_DIRS}) +include_directories(${GLUT_INCLUDE_DIR}) +include_directories(${GLEW_INCLUDE_DIRS}) +include_directories(${OPENGL_INCLUDE_DIRS}) +include_directories(${CUDA_INCLUDE_DIRS}) +include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include) + +link_directories(${ZED_LIBRARY_DIR}) +link_directories(${CUDA_LIBRARY_DIRS}) +link_directories(${GLUT_LIBRARY_DIRS}) +link_directories(${GLEW_LIBRARY_DIRS}) +link_directories(${OpenGL_LIBRARY_DIRS}) + +FILE(GLOB_RECURSE SRC_FILES src/*) +FILE(GLOB_RECURSE HDR_FILES include/*) + +ADD_EXECUTABLE(${PROJECT_NAME} ${HDR_FILES} ${SRC_FILES}) + +if (LINK_SHARED_ZED) + SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) +else() + SET(ZED_LIBS ${ZED_STATIC_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARY}) +endif() + +TARGET_LINK_LIBRARIES(${PROJECT_NAME} + ${ZED_LIBS} + ${OPENGL_LIBRARIES} + ${GLUT_LIBRARY} + ${GLEW_LIBRARIES}) + +if(INSTALL_SAMPLES) + LIST(APPEND SAMPLE_LIST ${PROJECT_NAME}) + SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE) +endif() \ No newline at end of file diff --git a/spatial mapping/overview/cpp/README.md b/spatial mapping/overview/cpp/README.md new file mode 100644 index 00000000..eca11165 --- /dev/null +++ b/spatial mapping/overview/cpp/README.md @@ -0,0 +1,26 @@ +# ZED SDK - Spatial Mapping + +This sample shows how to map your environment. + +## Getting Started + - Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/) + - Check the [Documentation](https://www.stereolabs.com/docs/) + +## Build the program + - Build for [Windows](https://www.stereolabs.com/docs/app-development/cpp/windows/) + - Build for [Linux/Jetson](https://www.stereolabs.com/docs/app-development/cpp/linux/) + +## Run the program +- Navigate to the build directory and launch the executable +- Or open a terminal in the build directory and run the sample : + + ./ZED_Spatial_Mapping + +### Features + - Press 'Spacebar' to start/stop the mapping process + - real time overlay of the mesh to the image + - textures and post filters can be apply to the Mesh + - final mesh is saved + +## Support +If you need assistance go to our Community site at https://community.stereolabs.com/ \ No newline at end of file diff --git a/spatial mapping/overview/cpp/include/GLViewer.hpp b/spatial mapping/overview/cpp/include/GLViewer.hpp new file mode 100644 index 00000000..43172cbc --- /dev/null +++ b/spatial mapping/overview/cpp/include/GLViewer.hpp @@ -0,0 +1,153 @@ +#pragma once + +#ifndef __SIMPLE3DOBJECT_INCLUDE_H_ +#define __SIMPLE3DOBJECT_INCLUDE_H_ + +#include + +#include +#include + +#include + +#include + +#ifndef M_PI +#define M_PI 3.141592653f +#endif + +//// UTILS ////// +using namespace std; +void print(std::string msg_prefix, sl::ERROR_CODE err_code = sl::ERROR_CODE::SUCCESS, std::string msg_suffix = "") ; + +///////////////// +class Shader{ +public: +Shader() {} + Shader(GLchar* vs, GLchar* fs); + ~Shader(); + + GLuint getProgramId(); + + static const GLint ATTRIB_VERTICES_POS = 0; + static const GLint ATTRIB_COLOR_POS = 1; +private: + bool compile(GLuint &shaderId, GLenum type, GLchar* src); + GLuint verterxId_; + GLuint fragmentId_; + GLuint programId_; +}; + +struct ShaderData { + Shader it; + GLuint MVP_Mat; + GLuint shColorLoc; +}; + +class SubMapObj { + GLuint vaoID_; + GLuint vboID_[2]; + int current_fc; + + std::vector index; +public: + SubMapObj(); + ~SubMapObj(); + template + void update(T &chunks); + void draw(); +}; + +class ImageHandler { + public: + ImageHandler(); + ~ImageHandler(); + + // Initialize Opengl and Cuda buffers + bool initialize(sl::Resolution res); + // Push a new Image + Z buffer and transform into a point cloud + void pushNewImage(sl::Mat& image); + // Draw the Image + void draw(); + // Close (disable update) + void close(); + + private: + GLuint texID; + GLuint imageTex; + cudaGraphicsResource* cuda_gl_ressource;//cuda GL resource + ShaderData shader; + GLuint quad_vb; +}; + +class GLViewer { +public: + GLViewer(); + ~GLViewer(); + bool isAvailable(); + template + bool init(int argc, char **argv, sl::CameraParameters, T*ptr); + bool updateImageAndState(sl::Mat &image, sl::Transform &pose, sl::POSITIONAL_TRACKING_STATE track_state, sl::SPATIAL_MAPPING_STATE mapp_state); + + void updateChunks() { + new_chunks = true; + chunks_pushed = false; + } + + bool chunksUpdated() { + return chunks_pushed; + } + + void clearCurrentMesh(); + + void exit(); +private: + // Rendering loop method called each frame by glutDisplayFunc + void render(); + // Everything that needs to be updated before rendering must be done in this method + void update(); + // Once everything is updated, every renderable objects must be drawn in this method + void draw(); + + void setRenderCameraProjection(sl::CameraParameters params, float znear, float zfar); + + void printText(); + + static void drawCallback(); + static void reshapeCallback(int width, int height); + static void keyReleasedCallback(unsigned char c, int x, int y); + static void idle(); + + template + void initPtr(T* ptr); + + std::mutex mtx; + + bool available; + bool change_state; + + std::list sub_maps; // Opengl mesh container + sl::float3 vertices_color; // Defines the color of the mesh + + // OpenGL camera projection matrix + sl::Transform camera_projection; + + sl::Transform pose; + sl::POSITIONAL_TRACKING_STATE tracking_state; + sl::SPATIAL_MAPPING_STATE mapping_state; + + bool new_chunks; + bool chunks_pushed; + bool ask_clear; + bool draw_mesh; + + sl::Mesh* p_mesh; + sl::FusedPointCloud* p_fpc; + ImageHandler image_handler; + ShaderData shader_obj; +}; + +/* Find MyDocuments directory for windows platforms.*/ +std::string getDir(); + +#endif diff --git a/spatial mapping/overview/cpp/src/GLViewer.cpp b/spatial mapping/overview/cpp/src/GLViewer.cpp new file mode 100644 index 00000000..2796e3e1 --- /dev/null +++ b/spatial mapping/overview/cpp/src/GLViewer.cpp @@ -0,0 +1,626 @@ +#include "GLViewer.hpp" + +#if defined(_DEBUG) && defined(_WIN32) +#error "This sample should not be built in Debug mode, use RelWithDebInfo if you want to do step by step." +#endif + +#if _WIN32 +#include +#include +#include +#pragma comment(lib, "shell32.lib") +#endif + +#include + +void print(std::string msg_prefix, sl::ERROR_CODE err_code, std::string msg_suffix) { + cout <<"[Sample]"; + if (err_code != sl::ERROR_CODE::SUCCESS) + cout << "[Error] "; + else + cout<<" "; + cout << msg_prefix << " "; + if (err_code != sl::ERROR_CODE::SUCCESS) { + cout << " | " << toString(err_code) << " : "; + cout << toVerbose(err_code); + } + if (!msg_suffix.empty()) + cout << " " << msg_suffix; + cout << endl; +} + +GLchar* MESH_VERTEX_SHADER = +"#version 330 core\n" +"layout(location = 0) in vec3 in_Vertex;\n" +"uniform mat4 u_mvpMatrix;\n" +"uniform vec3 u_color;\n" +"out vec3 b_color;\n" +"void main() {\n" +" b_color = u_color;\n" +" gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n" +"}"; + +GLchar* FPC_VERTEX_SHADER = +"#version 330 core\n" +"layout(location = 0) in vec4 in_Vertex;\n" +"uniform mat4 u_mvpMatrix;\n" +"uniform vec3 u_color;\n" +"out vec3 b_color;\n" +"void main() {\n" +" b_color = u_color;\n" +" gl_Position = u_mvpMatrix * vec4(in_Vertex.xyz, 1);\n" +"}"; + +GLchar* FRAGMENT_SHADER = +"#version 330 core\n" +"in vec3 b_color;\n" +"layout(location = 0) out vec4 color;\n" +"void main() {\n" +" color = vec4(b_color,1);\n" +"}"; + +GLchar* IMAGE_FRAGMENT_SHADER = +"#version 330 core\n" +" in vec2 UV;\n" +" out vec4 color;\n" +" uniform sampler2D texImage;\n" +" uniform bool revert;\n" +" uniform bool rgbflip;\n" +" void main() {\n" +" vec2 scaler =revert?vec2(UV.x,1.f - UV.y):vec2(UV.x,UV.y);\n" +" vec3 rgbcolor = rgbflip?vec3(texture(texImage, scaler).zyx):vec3(texture(texImage, scaler).xyz);\n" +" color = vec4(rgbcolor,1);\n" +"}"; + +GLchar* IMAGE_VERTEX_SHADER = +"#version 330\n" +"layout(location = 0) in vec3 vert;\n" +"out vec2 UV;" +"void main() {\n" +" UV = (vert.xy+vec2(1,1))/2;\n" +" gl_Position = vec4(vert, 1);\n" +"}\n"; + +SubMapObj::SubMapObj() { + current_fc = 0; + vaoID_ = 0; +} + +SubMapObj::~SubMapObj() { + current_fc = 0; + if(vaoID_) { + glDeleteBuffers(2, vboID_); + glDeleteVertexArrays(1, &vaoID_); + } +} + +template <> +void SubMapObj::update(sl::Chunk &chunk) { + if (vaoID_ == 0) { + glGenVertexArrays(1, &vaoID_); + glGenBuffers(2, vboID_); + } + + glShadeModel(GL_SMOOTH); + + glBindVertexArray(vaoID_); + + glBindBuffer(GL_ARRAY_BUFFER, vboID_[0]); + glBufferData(GL_ARRAY_BUFFER, chunk.vertices.size() * sizeof(sl::float3), &chunk.vertices[0], GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 3, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vboID_[1]); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, chunk.triangles.size() * sizeof(sl::uint3), &chunk.triangles[0], GL_DYNAMIC_DRAW); + current_fc = (int)chunk.triangles.size() * 3; + + glBindVertexArray(0); + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + glBindBuffer(GL_ARRAY_BUFFER, 0); + +} + +template <> +void SubMapObj::update(sl::PointCloudChunk &chunk) { + if (vaoID_ == 0) { + glGenVertexArrays(1, &vaoID_); + glGenBuffers(2, vboID_); + } + + glShadeModel(GL_SMOOTH); + + const auto nb_v = chunk.vertices.size(); + index.resize(nb_v); + for (int c = 0; c < nb_v; c++) index[c] = c; + + glBindVertexArray(vaoID_); + + glBindBuffer(GL_ARRAY_BUFFER, vboID_[0]); + glBufferData(GL_ARRAY_BUFFER, chunk.vertices.size() * sizeof(sl::float4), &chunk.vertices[0], GL_DYNAMIC_DRAW); + glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 4, GL_FLOAT, GL_FALSE, 0, 0); + glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vboID_[1]); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, index.size() * sizeof(sl::uint1), &index[0], GL_DYNAMIC_DRAW); + current_fc = (int)index.size(); + + glBindVertexArray(0); + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); + glBindBuffer(GL_ARRAY_BUFFER, 0); +} + +void SubMapObj::draw() { + if(current_fc && vaoID_) { + glBindVertexArray(vaoID_); + glDrawElements(index.size() ? GL_POINTS : GL_TRIANGLES, (GLsizei) current_fc, GL_UNSIGNED_INT, 0); + glBindVertexArray(0); + } +} + +GLViewer* currentInstance_ = nullptr; + +GLViewer::GLViewer() :available(false) { + currentInstance_ = this; + pose.setIdentity(); + tracking_state = sl::POSITIONAL_TRACKING_STATE::OFF; + mapping_state = sl::SPATIAL_MAPPING_STATE::NOT_ENABLED; + change_state = false; + new_chunks = chunks_pushed = false; +} + +GLViewer::~GLViewer() {} + +bool cudaSafeCall(cudaError_t err) { + if(err != cudaSuccess) { + printf("Cuda error [%d]: %s.\n", err, cudaGetErrorString(err)); + return false; + } + return true; +} + +void GLViewer::exit() { + if(available) { + image_handler.close(); + } + available = false; +} + +bool GLViewer::isAvailable() { + if(available) + glutMainLoopEvent(); + return available; +} + +void CloseFunc(void) { if(currentInstance_) currentInstance_->exit(); } + + +template<> +void GLViewer::initPtr(sl::Mesh* ptr) { + p_mesh = ptr; + draw_mesh = true; +} + +template<> +void GLViewer::initPtr(sl::FusedPointCloud* ptr) { + p_fpc = ptr; + draw_mesh = false; +} + +template +bool GLViewer::init(int argc, char **argv, sl::CameraParameters camLeft, T *ptr) { + + glutInit(&argc, argv); + int wnd_w = glutGet(GLUT_SCREEN_WIDTH); + int wnd_h = glutGet(GLUT_SCREEN_HEIGHT); + int width = wnd_w * 0.9; + int height = wnd_h * 0.9; + if (width > camLeft.image_size.width && height > camLeft.image_size.height) { + width = camLeft.image_size.width; + height = camLeft.image_size.height; + } + + glutInitWindowSize(width, height); + glutInitWindowPosition(wnd_w * 0.05, wnd_h * 0.05); + glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA); + glutCreateWindow("ZED Spatial Mapping Viewer"); + glViewport(0, 0, width, height); + + GLenum err = glewInit(); + if (GLEW_OK != err) + std::cout << "ERROR: glewInit failed: " << glewGetErrorString(err) << "\n"; + + glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_CONTINUE_EXECUTION); + + glEnable(GL_LINE_SMOOTH); + glHint(GL_LINE_SMOOTH_HINT, GL_NICEST); + + bool status_ = image_handler.initialize(camLeft.image_size); + if (!status_) + std::cout << "ERROR: Failed to initialized Image Renderer" << std::endl; + + initPtr(ptr); + + // Create GLSL Shaders for Mesh and Image + if(draw_mesh) + shader_obj.it = Shader(MESH_VERTEX_SHADER, FRAGMENT_SHADER); + else + shader_obj.it = Shader(FPC_VERTEX_SHADER, FRAGMENT_SHADER); + shader_obj.MVP_Mat = glGetUniformLocation(shader_obj.it.getProgramId(), "u_mvpMatrix"); + shader_obj.shColorLoc = glGetUniformLocation(shader_obj.it.getProgramId(), "u_color"); + + // Create the rendering camera + setRenderCameraProjection(camLeft, 0.5f, 20); + + glLineWidth(1.f); + glPointSize(4.f); + + // Set glut callback before start + glutDisplayFunc(GLViewer::drawCallback); + glutReshapeFunc(GLViewer::reshapeCallback); + glutKeyboardUpFunc(GLViewer::keyReleasedCallback); + glutCloseFunc(CloseFunc); + + ask_clear = false; + available = true; + + // Color of wireframe (soft blue) + vertices_color.r = 0.35f; + vertices_color.g = 0.65f; + vertices_color.b = 0.95f; + + // ready to start + chunks_pushed = true; + + return false; +} + +void GLViewer::setRenderCameraProjection(sl::CameraParameters params, float znear, float zfar) { + // Just slightly up the ZED camera FOV to make a small black border + float fov_y = (params.v_fov + 0.5f) * M_PI / 180.f; + float fov_x = (params.h_fov + 0.5f) * M_PI / 180.f; + + camera_projection(0, 0) = 1.0f / tanf(fov_x * 0.5f); + camera_projection(1, 1) = 1.0f / tanf(fov_y * 0.5f); + camera_projection(2, 2) = -(zfar + znear) / (zfar - znear); + camera_projection(3, 2) = -1; + camera_projection(2, 3) = -(2.f * zfar * znear) / (zfar - znear); + camera_projection(3, 3) = 0; + + camera_projection(0, 0) = 1.0f / tanf(fov_x * 0.5f); //Horizontal FoV. + camera_projection(0, 1) = 0; + camera_projection(0, 2) = 2.0f * ((params.image_size.width - 1.0f * params.cx) / params.image_size.width) - 1.0f; //Horizontal offset. + camera_projection(0, 3) = 0; + + camera_projection(1, 0) = 0; + camera_projection(1, 1) = 1.0f / tanf(fov_y * 0.5f); //Vertical FoV. + camera_projection(1, 2) = -(2.0f * ((params.image_size.height - 1.0f * params.cy) / params.image_size.height) - 1.0f); //Vertical offset. + camera_projection(1, 3) = 0; + + camera_projection(2, 0) = 0; + camera_projection(2, 1) = 0; + camera_projection(2, 2) = -(zfar + znear) / (zfar - znear); //Near and far planes. + camera_projection(2, 3) = -(2.0f * zfar * znear) / (zfar - znear); //Near and far planes. + + camera_projection(3, 0) = 0; + camera_projection(3, 1) = 0; + camera_projection(3, 2) = -1; + camera_projection(3, 3) = 0.0f; +} + +void printGL(float x, float y, const char *string) { + glRasterPos2f(x, y); + int len = (int) strlen(string); + for(int i = 0; i < len; i++) { + glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, string[i]); + } +} + +void GLViewer::reshapeCallback(int width, int height) { + glViewport(0, 0, width, height); +} + +void GLViewer::drawCallback() { + currentInstance_->render(); +} + +void GLViewer::idle() { + glutPostRedisplay(); +} + +void GLViewer::keyReleasedCallback(unsigned char c, int x, int y) { + // space bar means change spatial mapping state + currentInstance_->change_state = (c == 32); + + // Esc or Q hit means exit + if((c == 'q') || (c == 'Q') || (c == 27)) + currentInstance_->exit(); +} + +bool GLViewer::updateImageAndState(sl::Mat &im, sl::Transform &pose_, sl::POSITIONAL_TRACKING_STATE track_state, sl::SPATIAL_MAPPING_STATE mapp_state) { + if(mtx.try_lock()) { + if(available) { + image_handler.pushNewImage(im); + pose = pose_; + tracking_state = track_state; + mapping_state = mapp_state; + } + mtx.unlock(); + } + + bool cpy_state = change_state; + change_state = false; + return cpy_state; +} + +void GLViewer::clearCurrentMesh() { + ask_clear = true; + new_chunks = true; +} + +void GLViewer::render() { + if(available) { + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glClearColor(0, 0, 0, 1.f); + mtx.lock(); + update(); + draw(); + printText(); + mtx.unlock(); + glutSwapBuffers(); + glutPostRedisplay(); + } +} + +void GLViewer::update() { + + if (new_chunks) { + + if (ask_clear) { + sub_maps.clear(); + ask_clear = false; + } + + int nb_c = 0; + if(draw_mesh) + nb_c = p_mesh->chunks.size(); + else + nb_c = p_fpc->chunks.size(); + + if (nb_c > sub_maps.size()) { + const float step = 500.f; + size_t new_size = ((nb_c / step) + 1) * step; + sub_maps.resize(new_size); + } + + if (draw_mesh) { + int c = 0; + for (auto& it : sub_maps) { + if ((c < nb_c) && p_mesh->chunks[c].has_been_updated) + it.update(p_mesh->chunks[c]); + c++; + } + } else { + int c = 0; + for (auto& it : sub_maps) { + if ((c < nb_c) && p_fpc->chunks[c].has_been_updated) + it.update(p_fpc->chunks[c]); + c++; + } + } + new_chunks = false; + chunks_pushed = true; + } +} + +void GLViewer::printText() { + if(available) { + // Show actions + if(mapping_state == sl::SPATIAL_MAPPING_STATE::NOT_ENABLED) { + glColor3f(0.15f, 0.15f, 0.15f); + printGL(-0.99f, 0.9f, "Hit Space Bar to activate Spatial Mapping."); + } else { + glColor3f(0.25f, 0.25f, 0.25f); + printGL(-0.99f, 0.9f, "Hit Space Bar to stop spatial mapping."); + } + + std::string positional_tracking_state_str("POSITIONAL TRACKING STATE : "); + std::string spatial_mapping_state_str("SPATIAL MAPPING STATE : "); + std::string state_str; + // Show mapping state + if ((tracking_state == sl::POSITIONAL_TRACKING_STATE::OK)) { + if(mapping_state == sl::SPATIAL_MAPPING_STATE::OK || mapping_state == sl::SPATIAL_MAPPING_STATE::INITIALIZING) + glColor3f(0.25f, 0.99f, 0.25f); + else if(mapping_state == sl::SPATIAL_MAPPING_STATE::NOT_ENABLED) + glColor3f(0.55f, 0.65f, 0.55f); + else + glColor3f(0.95f, 0.25f, 0.25f); + state_str = spatial_mapping_state_str + sl::toString(mapping_state).c_str(); + } else { + if(mapping_state != sl::SPATIAL_MAPPING_STATE::NOT_ENABLED) { + glColor3f(0.95f, 0.25f, 0.25f); + state_str = positional_tracking_state_str + sl::toString(tracking_state).c_str(); + } else { + glColor3f(0.55f, 0.65f, 0.55f); + state_str = spatial_mapping_state_str + sl::toString(sl::SPATIAL_MAPPING_STATE::NOT_ENABLED).c_str(); + } + } + printGL(-0.99f, 0.83f, state_str.c_str()); + } +} + +void GLViewer::draw() { + if(available) { + image_handler.draw(); + + // If the Positional tracking is good, we can draw the mesh over the current image + if ((tracking_state == sl::POSITIONAL_TRACKING_STATE::OK) && sub_maps.size()) { + // Draw the mesh in GL_TRIANGLES with a polygon mode in line (wire) + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + // Send the projection and the Pose to the GLSL shader to make the projection of the 2D image. + sl::Transform vpMatrix = camera_projection * sl::Transform::inverse(pose); + glUseProgram(shader_obj.it.getProgramId()); + glUniformMatrix4fv(shader_obj.MVP_Mat, 1, GL_TRUE, vpMatrix.m); + glUniform3fv(shader_obj.shColorLoc, 1, vertices_color.v); + + for (auto &it: sub_maps) + it.draw(); + glUseProgram(0); + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + } + } +} + +Shader::Shader(GLchar* vs, GLchar* fs) { + if(!compile(verterxId_, GL_VERTEX_SHADER, vs)) { + std::cout << "ERROR: while compiling vertex shader" << std::endl; + } + if(!compile(fragmentId_, GL_FRAGMENT_SHADER, fs)) { + std::cout << "ERROR: while compiling fragment shader" << std::endl; + } + + programId_ = glCreateProgram(); + + glAttachShader(programId_, verterxId_); + glAttachShader(programId_, fragmentId_); + + glBindAttribLocation(programId_, ATTRIB_VERTICES_POS, "in_vertex"); + + glLinkProgram(programId_); + + GLint errorlk(0); + glGetProgramiv(programId_, GL_LINK_STATUS, &errorlk); + if(errorlk != GL_TRUE) { + std::cout << "ERROR: while linking Shader :" << std::endl; + GLint errorSize(0); + glGetProgramiv(programId_, GL_INFO_LOG_LENGTH, &errorSize); + + char *error = new char[errorSize + 1]; + glGetShaderInfoLog(programId_, errorSize, &errorSize, error); + error[errorSize] = '\0'; + std::cout << error << std::endl; + + delete[] error; + glDeleteProgram(programId_); + } +} + +Shader::~Shader() { + if(verterxId_ != 0) + glDeleteShader(verterxId_); + if(fragmentId_ != 0) + glDeleteShader(fragmentId_); + if(programId_ != 0) + glDeleteShader(programId_); +} + +GLuint Shader::getProgramId() { + return programId_; +} + +bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) { + shaderId = glCreateShader(type); + if(shaderId == 0) { + std::cout << "ERROR: shader type (" << type << ") does not exist" << std::endl; + return false; + } + glShaderSource(shaderId, 1, (const char**) &src, 0); + glCompileShader(shaderId); + + GLint errorCp(0); + glGetShaderiv(shaderId, GL_COMPILE_STATUS, &errorCp); + if(errorCp != GL_TRUE) { + std::cout << "ERROR: while compiling Shader :" << std::endl; + GLint errorSize(0); + glGetShaderiv(shaderId, GL_INFO_LOG_LENGTH, &errorSize); + + char *error = new char[errorSize + 1]; + glGetShaderInfoLog(shaderId, errorSize, &errorSize, error); + error[errorSize] = '\0'; + std::cout << error << std::endl; + + delete[] error; + glDeleteShader(shaderId); + return false; + } + return true; +} + +std::string getDir() { + std::string myDir; +#if _WIN32 + CHAR my_documents[MAX_PATH]; + HRESULT result = SHGetFolderPath(NULL, CSIDL_PERSONAL, NULL, SHGFP_TYPE_CURRENT, my_documents); + if(result == S_OK) + myDir = std::string(my_documents) + '/'; +#else + myDir = "./"; +#endif + return myDir; +} + +template bool GLViewer::init(int argc, char** argv, sl::CameraParameters camLeft, sl::FusedPointCloud* ptr); +template bool GLViewer::init(int argc, char** argv, sl::CameraParameters camLeft, sl::Mesh* ptr); + +ImageHandler::ImageHandler() {} + +ImageHandler::~ImageHandler() { + close(); +} + +void ImageHandler::close() { + glDeleteTextures(1, &imageTex); +} + +bool ImageHandler::initialize(sl::Resolution res) { + shader.it = Shader(IMAGE_VERTEX_SHADER, IMAGE_FRAGMENT_SHADER); + texID = glGetUniformLocation(shader.it.getProgramId(), "texImage"); + static const GLfloat g_quad_vertex_buffer_data[] = { + -1.0f, -1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + 1.0f, 1.0f, 0.0f }; + + glGenBuffers(1, &quad_vb); + glBindBuffer(GL_ARRAY_BUFFER, quad_vb); + glBufferData(GL_ARRAY_BUFFER, sizeof(g_quad_vertex_buffer_data), g_quad_vertex_buffer_data, GL_STATIC_DRAW); + glBindBuffer(GL_ARRAY_BUFFER, 0); + + glEnable(GL_TEXTURE_2D); + glGenTextures(1, &imageTex); + glBindTexture(GL_TEXTURE_2D, imageTex); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, res.width, res.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL); + glBindTexture(GL_TEXTURE_2D, 0); + cudaError_t err = cudaGraphicsGLRegisterImage(&cuda_gl_ressource, imageTex, GL_TEXTURE_2D, cudaGraphicsRegisterFlagsWriteDiscard); + return (err == cudaSuccess); +} + +void ImageHandler::pushNewImage(sl::Mat& image) { + cudaArray_t ArrIm; + cudaGraphicsMapResources(1, &cuda_gl_ressource, 0); + cudaGraphicsSubResourceGetMappedArray(&ArrIm, cuda_gl_ressource, 0, 0); + cudaMemcpy2DToArray(ArrIm, 0, 0, image.getPtr(sl::MEM::GPU), image.getStepBytes(sl::MEM::GPU), image.getPixelBytes() * image.getWidth(), image.getHeight(), cudaMemcpyDeviceToDevice); + cudaGraphicsUnmapResources(1, &cuda_gl_ressource, 0); +} + +void ImageHandler::draw() { + glEnable(GL_TEXTURE_2D); + glUseProgram(shader.it.getProgramId()); + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, imageTex); + glUniform1i(texID, 0); + //invert y axis and color for this image (since its reverted from cuda array) + glUniform1i(glGetUniformLocation(shader.it.getProgramId(), "revert"), 1); + glUniform1i(glGetUniformLocation(shader.it.getProgramId(), "rgbflip"), 1); + + glEnableVertexAttribArray(0); + glBindBuffer(GL_ARRAY_BUFFER, quad_vb); + glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, (void*)0); + glDrawArrays(GL_TRIANGLES, 0, 6); + glDisableVertexAttribArray(0); + glUseProgram(0); + glDisable(GL_TEXTURE_2D); +} diff --git a/spatial mapping/overview/cpp/src/main.cpp b/spatial mapping/overview/cpp/src/main.cpp new file mode 100644 index 00000000..deae0967 --- /dev/null +++ b/spatial mapping/overview/cpp/src/main.cpp @@ -0,0 +1,221 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + +/************************************************************************* + ** This sample shows how to capture a real-time 3D reconstruction ** + ** of the scene using the Spatial Mapping API. The resulting mesh ** + ** is displayed as a wireframe on top of the left image using OpenGL. ** + ** Spatial Mapping can be started and stopped with the space bar key ** + *************************************************************************/ + + // ZED includes +#include + + // Sample includes +#include "GLViewer.hpp" + + // Using std and sl namespaces +using namespace std; +using namespace sl; + +// set to 0 to create a Fused Point Cloud +#define CREATE_MESH 1 + +void parseArgs(int argc, char **argv,sl::InitParameters& param); + +int main(int argc, char** argv) { + Camera zed; + // Setup configuration parameters for the ZED + InitParameters init_parameters; + init_parameters.coordinate_units = UNIT::METER; + init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; // OpenGL coordinates system + parseArgs(argc,argv, init_parameters); + + // Open the camera + auto returned_state = zed.open(init_parameters); + if (returned_state != ERROR_CODE::SUCCESS) { + print("Camera Open", returned_state, "Exit program."); + return EXIT_FAILURE; + } + +#if CREATE_MESH + Mesh map; // Current incremental mesh +#else + FusedPointCloud map; // Current incremental fused point cloud +#endif + + CameraParameters camera_parameters = zed.getCameraInformation().camera_configuration.calibration_parameters.left_cam; + + GLViewer viewer; + bool error_viewer = viewer.init(argc, argv, camera_parameters, &map); + + if(error_viewer) { + viewer.exit(); + zed.close(); + return EXIT_FAILURE; + } + + Mat image; // Current left image + Pose pose; // Camera pose tracking data + + SpatialMappingParameters spatial_mapping_parameters; + POSITIONAL_TRACKING_STATE tracking_state = POSITIONAL_TRACKING_STATE::OFF; + SPATIAL_MAPPING_STATE mapping_state = SPATIAL_MAPPING_STATE::NOT_ENABLED; + bool mapping_activated = false; // Indicates if spatial mapping is running or not + chrono::high_resolution_clock::time_point ts_last; // Timestamp of the last mesh request + + // Enable positional tracking before starting spatial mapping + returned_state = zed.enablePositionalTracking(); + if(returned_state != ERROR_CODE::SUCCESS) { + print("Enabling positional tracking failed: ", returned_state); + zed.close(); + return EXIT_FAILURE; + } + + while(viewer.isAvailable()) { + if(zed.grab() == ERROR_CODE::SUCCESS) { + // Retrieve image in GPU memory + zed.retrieveImage(image, VIEW::LEFT, MEM::GPU); + // Update pose data (used for projection of the mesh over the current image) + tracking_state = zed.getPosition(pose); + + if(mapping_activated) { + mapping_state = zed.getSpatialMappingState(); + // Compute elapsed time since the last call of Camera::requestSpatialMapAsync() + auto duration = chrono::duration_cast(chrono::high_resolution_clock::now() - ts_last).count(); + // Ask for a mesh update if 500ms elapsed since last request + if((duration > 500) && viewer.chunksUpdated()) { + zed.requestSpatialMapAsync(); + ts_last = chrono::high_resolution_clock::now(); + } + + if(zed.getSpatialMapRequestStatusAsync() == ERROR_CODE::SUCCESS) { + zed.retrieveSpatialMapAsync(map); + viewer.updateChunks(); + } + } + + bool change_state = viewer.updateImageAndState(image, pose.pose_data, tracking_state, mapping_state); + + if(change_state) { + if(!mapping_activated) { + Transform init_pose; + zed.resetPositionalTracking(init_pose); + + // Configure Spatial Mapping parameters + spatial_mapping_parameters.resolution_meter = SpatialMappingParameters::get(SpatialMappingParameters::MAPPING_RESOLUTION::LOW); + spatial_mapping_parameters.use_chunk_only = true; + spatial_mapping_parameters.save_texture = false; +#if CREATE_MESH + spatial_mapping_parameters.map_type = SpatialMappingParameters::SPATIAL_MAP_TYPE::MESH; +#else + spatial_mapping_parameters.map_type = SpatialMappingParameters::SPATIAL_MAP_TYPE::FUSED_POINT_CLOUD; +#endif + // Enable spatial mapping + try { + zed.enableSpatialMapping(spatial_mapping_parameters); + print("Spatial Mapping will output a " + string(toString(spatial_mapping_parameters.map_type).c_str())); + } catch(string e) { + print("Error enable Spatial Mapping "+ e); + } + + // Clear previous Mesh data + map.clear(); + viewer.clearCurrentMesh(); + + // Start a timer, we retrieve the mesh every XXms. + ts_last = chrono::high_resolution_clock::now(); + + mapping_activated = true; + } else { + // Extract the whole mesh + zed.extractWholeSpatialMap(map); +#if CREATE_MESH + MeshFilterParameters filter_params; + filter_params.set(MeshFilterParameters::MESH_FILTER::MEDIUM); + // Filter the extracted mesh + map.filter(filter_params, true); + viewer.clearCurrentMesh(); + + // If textures have been saved during spatial mapping, apply them to the mesh + if(spatial_mapping_parameters.save_texture) + map.applyTexture(MESH_TEXTURE_FORMAT::RGB); +#endif + // Save mesh as an OBJ file + string saveName = getDir() + "mesh_gen.obj"; + bool error_save = map.save(saveName.c_str()); + if(error_save) + print("Mesh saved under: " +saveName); + else + print("Failed to save the mesh under: " +saveName); + + mapping_state = SPATIAL_MAPPING_STATE::NOT_ENABLED; + mapping_activated = false; + } + } + } + } + + image.free(); + map.clear(); + + zed.disableSpatialMapping(); + zed.disablePositionalTracking(); + zed.close(); + return EXIT_SUCCESS; +} + +void parseArgs(int argc, char **argv,sl::InitParameters& param) +{ + if (argc > 1 && string(argv[1]).find(".svo")!=string::npos) { + // SVO input mode + param.input.setFromSVOFile(argv[1]); + cout<<"[Sample] Using SVO File input: "< 1 && string(argv[1]).find(".svo")==string::npos) { + string arg = string(argv[1]); + unsigned int a,b,c,d,port; + if (sscanf(arg.c_str(),"%u.%u.%u.%u:%d", &a, &b, &c, &d,&port) == 5) { + // Stream input mode - IP + port + string ip_adress = to_string(a)+"."+to_string(b)+"."+to_string(c)+"."+to_string(d); + param.input.setFromStream(sl::String(ip_adress.c_str()),port); + cout<<"[Sample] Using Stream input, IP : "< + + + + + diff --git a/spatial mapping/overview/csharp/CMakeLists.txt b/spatial mapping/overview/csharp/CMakeLists.txt new file mode 100644 index 00000000..928d41a5 --- /dev/null +++ b/spatial mapping/overview/csharp/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required( VERSION 3.8.0 ) + +project(ZED_Spatial_Mapping CSharp) + +add_executable(${PROJECT_NAME} + Program.cs + MainWindow.cs + GLViewer.cs + App.config + packages.config + Properties/AssemblyInfo.cs +) + +# Set the target platform to x64, since ZED SDK does not support 32-bits arch +target_compile_options(${PROJECT_NAME} PRIVATE "/platform:x64" ) + +# Set the .NET Framework version for the target. +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1") + +# Set the C# language version, otherwise default 3.0 is taken +set(CMAKE_CSharp_FLAGS "/langversion:7") + +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES + "Microsoft.CSharp" + "PresentationCore" + "PresentationFramework" + "System" + "System.Xaml" + "System.Data" + "System.Linq" + "System.Windows" + "System.Windows.Forms" + "System.Numerics" + "System.Drawing" + "WindowsBase" +) +set(CMAKE_SUPPRESS_REGENERATION true) + + +set_property(TARGET ${PROJECT_NAME} PROPERTY VS_PACKAGE_REFERENCES + "OpenGL.Net_0.8.4" + "OpenGL.Net.CoreUI_0.8.4" + "Stereolabs.zed_3.7.*" +) \ No newline at end of file diff --git a/spatial mapping/overview/csharp/GLViewer.cs b/spatial mapping/overview/csharp/GLViewer.cs new file mode 100644 index 00000000..2572932d --- /dev/null +++ b/spatial mapping/overview/csharp/GLViewer.cs @@ -0,0 +1,1085 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Numerics; +using System.Runtime.InteropServices; +using OpenGL; +using OpenGL.CoreUI; +using System.Windows.Input; + +namespace sl +{ + + class GLViewer + { + public GLViewer(Resolution res) + { + image_handler = new ImageHandler(res); + shader_obj = new ShaderData(); + available = false; + currentInstance = this; + pose = Matrix4x4.Identity; + + tracking_state = POSITIONAL_TRACKING_STATE.OFF; + mapping_state = SPATIAL_MAPPING_STATE.NOT_ENABLED; + change_state = false; + new_chunks = chunks_pushed = false; + } + + public bool isAvailable() + { + return available; + } + + + public void init(CameraParameters param, bool drawMesh) + { + image_handler.initialize(); + + draw_mesh = drawMesh; + Gl.Enable(EnableCap.FramebufferSrgb); + // Create GLSL Shaders for Mesh and Image + if (draw_mesh) + shader_obj.it = new Shader(Shader.MESH_VERTEX_SHADER, Shader.FRAGMENT_SHADER); + else + shader_obj.it = new Shader(Shader.FPC_VERTEX_SHADER, Shader.FRAGMENT_SHADER); + shader_obj.MVP_Mat = Gl.GetUniformLocation(shader_obj.it.getProgramId(), "u_mvpMatrix"); + shader_obj.shColorLoc = Gl.GetUniformLocation(shader_obj.it.getProgramId(), "u_color"); + + // Create the rendering camera + setRenderCameraProjection(param, 0.5f, 20); + + Gl.LineWidth(1.0f); + Gl.PointSize(4.0f); + + ask_clear = true; + available = true; + + vertices_color = new float3(); + vertices_color.x = 0.35f; + vertices_color.y = 0.65f; + vertices_color.z = 0.95f; + + // ready to start + chunks_pushed = true; + } + + public bool updateImageAndState(Mat image, Pose pose_, POSITIONAL_TRACKING_STATE track_state, SPATIAL_MAPPING_STATE mapp_state) + { + if (available) + { + image_handler.pushNewImage(image); + + pose = Matrix4x4.Identity; + pose = Matrix4x4.Transform(pose, pose_.rotation); + pose.Translation = pose_.translation; + pose = Matrix4x4.Transpose(pose); + tracking_state = track_state; + mapping_state = mapp_state; + } + + bool cpy_state = change_state; + change_state = false; + + return cpy_state; + } + + public void clearCurrentMesh() + { + sub_maps = new List(); + Chunks = new List(); + fpc = new SpatialMappingObject(); + ask_clear = true; + new_chunks = true; + } + + public void render() + { + update(); + draw(); + } + + public void update() + { + if (new_chunks) + { + if (ask_clear) + { + sub_maps.Clear(); + ask_clear = false; + } + if (draw_mesh) + { + int i = 0; + while(sub_maps.Count() < Chunks.Count()) + { + sub_maps.Add(new SpatialMappingObject()); + } + foreach(SpatialMappingObject it in sub_maps) + { + it.update(Chunks[i]); + + i++; + } + } + else + { + fpc.update(vertPoints.ToArray()); + } + + } + new_chunks = false; + chunks_pushed = true; + } + + public void draw() + { + image_handler.draw(); + + if (tracking_state == POSITIONAL_TRACKING_STATE.OK) + { + Gl.UseProgram(shader_obj.it.getProgramId()); + // Draw the mesh in GL_TRIANGLES with a polygon mode in line (wire) + Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line); + // Send the projection and the Pose to the GLSL shader to make the projection of the 2D image. + Matrix4x4.Invert(pose, out Matrix4x4 pose_inv); + Matrix4x4 vpMatrix_ = projection_ * pose_inv; + Gl.UniformMatrix4f(shader_obj.MVP_Mat, 1, true, vpMatrix_); + Gl.Uniform3f(shader_obj.shColorLoc, 1, vertices_color); + + if(draw_mesh) + foreach(SpatialMappingObject it in sub_maps) + { + it.draw(draw_mesh); + } + else + fpc.draw(draw_mesh); + + Gl.UseProgram(0); + Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill); + } + } + + public void updateData(List chunks) + { + this.Chunks = chunks; + + new_chunks = true; + chunks_pushed = false; + } + + public void updateData(Vector4[] data) + { + vertPoints.Clear(); + vertPoints.AddRange(data); + new_chunks = true; + chunks_pushed = false; + } + + public bool chunksUpdated() + { + return chunks_pushed; + } + + bool renderObject(ObjectData i) { + return (i.objectTrackingState == OBJECT_TRACKING_STATE.OK || i.objectTrackingState == OBJECT_TRACKING_STATE.OFF); + } + + private void setRenderCameraProjection(CameraParameters camParams, float znear, float zfar) + { + float PI = 3.141592653f; + // Just slightly up the ZED camera FOV to make a small black border + float fov_y = (camParams.vFOV+0.5f) *PI / 180; + float fov_x = (camParams.hFOV+0.5f) * PI / 180; + + projection_.M11 = 1.0f / (float)Math.Tan(fov_x * 0.5f); + projection_.M22 = 1.0f / (float)Math.Tan(fov_y * 0.5f); + projection_.M33 = -(zfar + znear) / (zfar - znear); + projection_.M43 = -1; + projection_.M34 = -(2.0f * zfar * znear) / (zfar - znear); + projection_.M44 = 0; + + projection_.M12 = 0; + projection_.M13 = 2.0f * (((int)camParams.resolution.width - 1.0f * camParams.cx) / (int)camParams.resolution.width) -1.0f; //Horizontal offset. + projection_.M14 = 0; + + projection_.M21 = 0; + projection_.M22 = 1.0f / (float)Math.Tan(fov_y * 0.5f); //Vertical FoV. + projection_.M23 = -(2.0f * (((int)camParams.resolution.height -1.0f * camParams.cy) / (int)camParams.resolution.height) -1.0f); //Vertical offset. + projection_.M24 = 0; + + projection_.M31 = 0; + projection_.M32 = 0; + + projection_.M41 = 0; + projection_.M42 = 0; + } + + int getIdx(BODY_PARTS part) + { + return (int)(part); + } + + public void exit() + { + if (currentInstance != null) + { + image_handler.close(); + available = false; + } + } + + bool available; + public bool change_state; + + List sub_maps = new List(); // Opengl mesh container + SpatialMappingObject fpc = new SpatialMappingObject(); + float3 vertices_color; // Defines the color of the mesh + + // OpenGL camera projection matrix + Matrix4x4 projection_; + + Matrix4x4 pose; + sl.POSITIONAL_TRACKING_STATE tracking_state; + sl.SPATIAL_MAPPING_STATE mapping_state; + + bool new_chunks; + bool chunks_pushed; + bool ask_clear; + + List vertPoints = new List(); // Fused Point Cloud. + List Chunks = new List(); + bool draw_mesh = true; + ImageHandler image_handler; + ShaderData shader_obj; + + GLViewer currentInstance; + } + + class SpatialMappingObject + { + public SpatialMappingObject() { + current_fc = 0; + vaoID_ = 0; + } + + public void update(Chunk chunk) + { + if (vaoID_ == 0) + { + vaoID_ = Gl.GenVertexArray(); + Gl.GenBuffers(vboID_); + } + + Gl.ShadeModel(ShadingModel.Smooth); + + Gl.BindVertexArray(vaoID_); + + if (chunk.vertices.Count() > 0) + { + Gl.BindBuffer(BufferTarget.ArrayBuffer, vboID_[0]); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)chunk.vertices.Count() * sizeof(float) * 3, chunk.vertices.ToArray(), BufferUsage.DynamicDraw); + Gl.VertexAttribPointer(Shader.ATTRIB_VERTICES_POS, 3, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.EnableVertexAttribArray(Shader.ATTRIB_VERTICES_POS); + } + if (chunk.triangles.Count() > 0) + { + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, vboID_[1]); + Gl.BufferData(BufferTarget.ElementArrayBuffer, (uint)chunk.triangles.Count() * sizeof(int), chunk.triangles.ToArray(), BufferUsage.DynamicDraw); + current_fc = chunk.triangles.Count(); + } + + Gl.BindVertexArray(0); + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, 0); + Gl.BindBuffer(BufferTarget.ArrayBuffer, 0); + } + + public void update(Vector4[] points) + { + if (vaoID_ == 0) + { + vaoID_ = Gl.GenVertexArray(); + Gl.GenBuffers(vboID_); + } + + Gl.ShadeModel(ShadingModel.Smooth); + index.Clear(); + for (int c = 0; c < points.Count(); c++) + { + index.Add(c); + } + + Gl.BindVertexArray(vaoID_); + + if (points.Count() > 0) + { + Gl.BindBuffer(BufferTarget.ArrayBuffer, vboID_[0]); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)points.Count() * sizeof(float) * 4, points, BufferUsage.DynamicDraw); + Gl.VertexAttribPointer(Shader.ATTRIB_VERTICES_POS, 4, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.EnableVertexAttribArray(Shader.ATTRIB_VERTICES_POS); + } + + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, vboID_[1]); + Gl.BufferData(BufferTarget.ElementArrayBuffer, (uint)index.Count() * sizeof(int), index.ToArray(), BufferUsage.DynamicDraw); + current_fc = index.Count(); + + Gl.BindVertexArray(0); + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, 0); + Gl.BindBuffer(BufferTarget.ArrayBuffer, 0); + } + + public void draw(bool draw_mesh) + { + if (current_fc != 0 && vaoID_ != 0) + { + Gl.BindVertexArray(vaoID_); + Gl.DrawElements(draw_mesh == true ? PrimitiveType.Triangles : PrimitiveType.Points, current_fc, DrawElementsType.UnsignedInt, IntPtr.Zero); + Gl.BindVertexArray(0); + } + } + + uint vaoID_; + uint[] vboID_ = new uint[2]; + int current_fc; + List index = new List(); + }; + + class ImageHandler + { + public ImageHandler(Resolution res) { + resolution = res; + } + + // Initialize Opengl buffers + public void initialize() + { + shaderImage.it = new Shader(Shader.IMAGE_VERTEX_SHADER, Shader.IMAGE_FRAGMENT_SHADER); + texID = Gl.GetUniformLocation(shaderImage.it.getProgramId(), "texImage"); + + float[] g_quad_vertex_buffer_data = new float[18]{ + -1.0f, -1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, + 1.0f, -1.0f, 0.0f, + 1.0f, 1, 0.0f}; + + quad_vb = Gl.GenBuffer(); + Gl.BindBuffer(BufferTarget.ArrayBuffer, quad_vb); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)(sizeof(float) * g_quad_vertex_buffer_data.Length), g_quad_vertex_buffer_data, BufferUsage.StaticDraw); + Gl.BindBuffer(BufferTarget.ArrayBuffer, 0); + + Gl.Enable(EnableCap.Texture2d); + imageTex = Gl.GenTexture(); + Gl.BindTexture(TextureTarget.Texture2d, imageTex); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureWrapS, Gl.CLAMP_TO_BORDER); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureWrapT, Gl.CLAMP_TO_BORDER); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureWrapR, Gl.CLAMP_TO_BORDER); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureMinFilter, Gl.LINEAR); + Gl.TexParameter(TextureTarget.Texture2d, TextureParameterName.TextureMagFilter, Gl.LINEAR); + Gl.TexImage2D(TextureTarget.Texture2d, 0, InternalFormat.Rgba, (int)resolution.width, (int)resolution.height, 0, PixelFormat.Rgba, PixelType.UnsignedByte, null); + Gl.BindTexture(TextureTarget.Texture2d, 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()); + } + + // Draw the Image + public void draw() + { + Gl.UseProgram(shaderImage.it.getProgramId()); + Gl.ActiveTexture(TextureUnit.Texture0); + Gl.BindTexture(TextureTarget.Texture2d, imageTex); + Gl.Uniform1(texID, 0); + + Gl.Uniform1(Gl.GetUniformLocation(shaderImage.it.getProgramId(), "revert"), 1); + Gl.Uniform1(Gl.GetUniformLocation(shaderImage.it.getProgramId(), "rgbflip"), 1); + + Gl.EnableVertexAttribArray(0); + Gl.BindBuffer(BufferTarget.ArrayBuffer, quad_vb); + Gl.VertexAttribPointer(0, 3, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.DrawArrays(PrimitiveType.Triangles, 0, 6); + Gl.DisableVertexAttribArray(0); + Gl.UseProgram(0); + } + + public void close() + { + Gl.DeleteTextures(imageTex); + } + + private int texID; + private uint imageTex; + + private ShaderData shaderImage; + private Resolution resolution; + private uint quad_vb; + + }; + + class Shader + { + + public static readonly string[] IMAGE_VERTEX_SHADER = new string[] { + "#version 330\n", + "layout(location = 0) in vec3 vert;\n", + "out vec2 UV;", + "void main() {\n", + " UV = (vert.xy+vec2(1,1))/2;\n", + " gl_Position = vec4(vert, 1);\n", + "}\n" + }; + + public static readonly string[] IMAGE_FRAGMENT_SHADER = new string[] { + "#version 330 core\n", + "in vec2 UV;\n", + "out vec4 color;\n", + "uniform sampler2D texImage;\n", + "uniform bool revert;\n", + "uniform bool rgbflip;\n", + "void main() {\n", + " vec2 scaler = revert?vec2(UV.x,1.f - UV.y):vec2(UV.x,UV.y);\n", + " vec3 rgbcolor = rgbflip?vec3(texture(texImage, scaler).zyx):vec3(texture(texImage, scaler).xyz);\n", + " float gamma = 1.0/1.65;\n", + " vec3 color_rgb = pow(rgbcolor, vec3(1.0/gamma));;\n", + " color = vec4(color_rgb,1);\n", + "}" + }; + + public static readonly string[] MESH_VERTEX_SHADER = new string[] { + "#version 330 core\n", + "layout(location = 0) in vec3 in_vertex;\n", + "uniform mat4 u_mvpMatrix;\n", + "uniform vec3 u_color;\n", + "out vec3 b_color;\n", + "void main() {\n", + " b_color = u_color;\n", + " gl_Position = u_mvpMatrix * vec4(in_vertex, 1);\n", + "}" + }; + + public static readonly string[] FPC_VERTEX_SHADER = new string[] { + "#version 330 core\n", + "layout(location = 0) in vec4 in_vertex;\n", + "uniform mat4 u_mvpMatrix;\n", + "uniform vec3 u_color;\n", + "out vec3 b_color;\n", + "void main() {\n", + " b_color = u_color;\n", + " gl_Position = u_mvpMatrix * vec4(in_vertex.xyz, 1);\n", + "}" + }; + + public static readonly string[] FRAGMENT_SHADER = new string[] { + "#version 330 core\n", + "in vec3 b_color;\n", + "layout(location = 0) out vec4 color;\n", + "void main() {\n", + " color = vec4(b_color,1);\n", + "}" + }; + + public Shader(string[] vs, string[] fs) + { + if (!compile(ref verterxId_, ShaderType.VertexShader, vs)) + { + Console.WriteLine("ERROR: while compiling vertex shader"); + } + if (!compile(ref fragmentId_, ShaderType.FragmentShader, fs)) + { + Console.WriteLine("ERROR: while compiling fragment shader"); + } + + programId_ = Gl.CreateProgram(); + + Gl.AttachShader(programId_, verterxId_); + Gl.AttachShader(programId_, fragmentId_); + + Gl.BindAttribLocation(programId_, ATTRIB_VERTICES_POS, "in_vertex"); + Gl.BindAttribLocation(programId_, ATTRIB_COLOR_POS, "in_texCoord"); + + Gl.LinkProgram(programId_); + + int errorlk = 0; + Gl.GetProgram(programId_, ProgramProperty.LinkStatus, out errorlk); + if (errorlk != Gl.TRUE) + { + Console.WriteLine("ERROR: while linking Shader :"); + int errorSize = 0; + Gl.GetProgram(programId_, ProgramProperty.InfoLogLength, out errorSize); + StringBuilder error = new StringBuilder(1024); + Gl.GetShaderInfoLog(programId_, errorSize, out errorSize, error); + Console.WriteLine(error.ToString()); + error.Clear(); + Gl.DeleteProgram(programId_); + } + } + + public uint getProgramId() + { + return programId_; + } + + public static uint ATTRIB_VERTICES_POS = 0; + public static uint ATTRIB_COLOR_POS = 1; + public static uint ATTRIB_NORMAL = 2; + + private bool compile(ref uint shaderId, ShaderType type, string[] src) + { + int errorcp = 0; + + shaderId = Gl.CreateShader(type); + if (shaderId == 0) + { + Console.WriteLine("ERROR: shader type (" + type + ") does not exist"); + } + + Gl.ShaderSource(shaderId, src); + Gl.CompileShader(shaderId); + Gl.GetShader(shaderId, ShaderParameterName.CompileStatus, out errorcp); + + if (errorcp != Gl.TRUE) + { + Console.WriteLine("ERROR: while compiling Shader :"); + int errorSize; + Gl.GetShader(shaderId, ShaderParameterName.InfoLogLength, out errorSize); + + StringBuilder error = new StringBuilder(1024); + Gl.GetShaderInfoLog(shaderId, errorSize, out errorSize, error); + + Console.WriteLine(error.ToString()); + error.Clear(); + + Gl.DeleteShader(shaderId); + return false; + } + return true; + } + + uint verterxId_; + uint fragmentId_; + uint programId_; + }; + + struct ShaderData + { + public Shader it; + public int MVP_Mat; + public int shColorLoc; + }; + + class Simple3DObject + { + public Simple3DObject() + { + is_init = false; + } + + public void init() + { + vaoID_ = 0; + isStatic_ = false; + + shader.it = new Shader(Shader.MESH_VERTEX_SHADER, Shader.FRAGMENT_SHADER); + shader.MVP_Mat = Gl.GetUniformLocation(shader.it.getProgramId(), "u_mvpMatrix"); + + vertices_ = new List(); + colors_ = new List(); + indices_ = new List(); + normals_ = new List(); + + is_init = true; + } + + public bool isInit() + { + return is_init; + } + + public void addPt(float3 pt) + { + vertices_.Add(pt.x); + vertices_.Add(pt.y); + vertices_.Add(pt.z); + } + + public void addClr(float4 clr) + { + colors_.Add(clr.x); + colors_.Add(clr.y); + colors_.Add(clr.z); + colors_.Add(clr.w); + } + + public void addNormal(float3 normal) + { + normals_.Add(normal.x); + normals_.Add(normal.y); + normals_.Add(normal.z); + } + + void addBBox(List pts, float4 clr) + { + int start_id = vertices_.Count / 3; + + float transparency_top = 0.05f, transparency_bottom = 0.75f; + for (int i = 0; i < pts.Count; i++) + { + addPt(pts[i]); + clr.w = (i < 4 ? transparency_top : transparency_bottom); + addClr(clr); + } + + uint[] boxLinks = new uint[] { 4, 5, 5, 6, 6, 7, 7, 4, 0, 4, 1, 5, 2, 6, 3, 7 }; + + for (int i = 0; i < boxLinks.Length; i += 2) + { + indices_.Add((uint)start_id + boxLinks[i]); + indices_.Add((uint)start_id + boxLinks[i + 1]); + } + } + + public void addPoint(float3 pt, float4 clr) + { + addPt(pt); + addClr(clr); + indices_.Add((uint)indices_.Count()); + } + + public void addLine(float3 p1, float3 p2, float4 clr) + { + addPoint(p1, clr); + addPoint(p2, clr); + } + + public void addTriangle(float3 p1, float3 p2, float3 p3, float4 clr) + { + addPoint(p1, clr); + addPoint(p2, clr); + addPoint(p3, clr); + } + + public void addFullEdges(List pts, float4 clr) + { + int start_id = vertices_.Count / 3; + + for (int i = 0; i < pts.Count; i++) + { + addPt(new float3(pts[i].X, pts[i].Y, pts[i].Z)); + addClr(clr); + } + + uint[] boxLinksTop = new uint[] { 0, 1, 1, 2, 2, 3, 3, 0 }; + for (int i = 0; i < boxLinksTop.Length; i += 2) + { + indices_.Add((uint)start_id + boxLinksTop[i]); + indices_.Add((uint)start_id + boxLinksTop[i + 1]); + } + + uint[] boxLinksBottom = new uint[] { 4, 5, 5, 6, 6, 7, 7, 4 }; + for (int i = 0; i < boxLinksBottom.Length; i += 2) + { + indices_.Add((uint)start_id + boxLinksBottom[i]); + indices_.Add((uint)start_id + boxLinksBottom[i + 1]); + } + } + + public void addSingleVerticalLine(Vector3 top_pt, Vector3 bot_pt, float4 clr) + { + List current_pts = new List() + { + top_pt, + ((grid_size - 1.0f) * top_pt + bot_pt) / grid_size, + ((grid_size - 2.0f) * top_pt + bot_pt* 2.0f) / grid_size, + (2.0f * top_pt + bot_pt* (grid_size - 2.0f)) / grid_size, + (top_pt + bot_pt* (grid_size - 1.0f)) / grid_size, + bot_pt + }; + + int start_id = vertices_.Count / 3; + for (int i = 0; i < current_pts.Count; i++) + { + addPt(new float3(current_pts[i].X, current_pts[i].Y, current_pts[i].Z)); + clr.w = (i == 2 || i == 3) ? 0.0f : 0.75f; + addClr(clr); + } + + uint[] boxLinks = new uint[] { 0, 1, 1, 2, 2, 3, 3, 4, 4, 5 }; + for (int i = 0; i < boxLinks.Length; i += 2) + { + indices_.Add((uint)start_id + boxLinks[i]); + indices_.Add((uint)start_id + boxLinks[i + 1]); + } + } + + public void addVerticalEdges(List pts, float4 clr) + { + + addSingleVerticalLine(pts[0], pts[4], clr); + addSingleVerticalLine(pts[1], pts[5], clr); + addSingleVerticalLine(pts[2], pts[6], clr); + addSingleVerticalLine(pts[3], pts[7], clr); + } + + public void addTopFace(List pts, float4 clr) + { + clr.w = 0.3f; + foreach (Vector3 it in pts) + addPoint(new float3(it.X, it.Y, it.Z), clr); + } + + void addQuad(List quad_pts, float alpha1, float alpha2, float4 clr) + { // To use only with 4 points + for (int i = 0; i < quad_pts.Count; ++i) + { + addPt(new float3(quad_pts[i].X, quad_pts[i].Y, quad_pts[i].Z)); + clr.w = (i < 2 ? alpha1 : alpha2); + addClr(clr); + } + + indices_.Add((uint)indices_.Count); + indices_.Add((uint)indices_.Count); + indices_.Add((uint)indices_.Count); + indices_.Add((uint)indices_.Count); + } + + public void addVerticalFaces(List pts, float4 clr) + { + // For each face, we need to add 4 quads (the first 2 indexes are always the top points of the quad) + int[][] quads = new int[4][] + { + new int[4] + { + 0, 3, 7, 4 + }, // front face + new int[4] + { + 3, 2, 6, 7 + }, // right face + new int[4] + { + 2, 1, 5, 6 + }, // back face + new int[4] + { + 1, 0, 4, 5 + } // left face + }; + float alpha = 0.5f; + + foreach (int[] quad in quads) + { + + // Top quads + List quad_pts_1 = new List { + pts[quad[0]], + pts[quad[1]], + ((grid_size - 0.5f) * pts[quad[1]] + 0.5f * pts[quad[2]]) / grid_size, + ((grid_size - 0.5f) * pts[quad[0]] + 0.5f * pts[quad[3]]) / grid_size }; + addQuad(quad_pts_1, alpha, alpha, clr); + + List quad_pts_2 = new List { + ((grid_size - 0.5f) * pts[quad[0]] + 0.5f * pts[quad[3]]) / grid_size, + ((grid_size - 0.5f) * pts[quad[1]] + 0.5f * pts[quad[2]]) / grid_size, + ((grid_size - 1.0f) * pts[quad[1]] + pts[quad[2]]) / grid_size, + ((grid_size - 1.0f) * pts[quad[0]] + pts[quad[3]]) / grid_size}; + addQuad(quad_pts_2, alpha, 2 * alpha / 3, clr); + + List quad_pts_3 = new List { + ((grid_size - 1.0f) * pts[quad[0]] + pts[quad[3]]) / grid_size, + ((grid_size - 1.0f) * pts[quad[1]] + pts[quad[2]]) / grid_size, + ((grid_size - 1.5f) * pts[quad[1]] + 1.5f * pts[quad[2]]) / grid_size, + ((grid_size - 1.5f) * pts[quad[0]] + 1.5f * pts[quad[3]]) / grid_size}; + addQuad(quad_pts_3, 2 * alpha / 3, alpha / 3, clr); + + List quad_pts_4 = new List { + ((grid_size - 1.5f) * pts[quad[0]] + 1.5f * pts[quad[3]]) / grid_size, + ((grid_size - 1.5f) * pts[quad[1]] + 1.5f * pts[quad[2]]) / grid_size, + ((grid_size - 2.0f) * pts[quad[1]] + 2.0f * pts[quad[2]]) / grid_size, + ((grid_size - 2.0f) * pts[quad[0]] + 2.0f * pts[quad[3]]) / grid_size}; + addQuad(quad_pts_4, alpha / 3, 0.0f, clr); + + // Bottom quads + List quad_pts_5 = new List { + (pts[quad[1]] * 2.0f + (grid_size - 2.0f) * pts[quad[2]]) / grid_size, + (pts[quad[0]] * 2.0f + (grid_size - 2.0f) * pts[quad[3]]) / grid_size, + (pts[quad[0]] * 1.5f + (grid_size - 1.5f) * pts[quad[3]]) / grid_size, + (pts[quad[1]] * 1.5f + (grid_size - 1.5f) * pts[quad[2]]) / grid_size }; + addQuad(quad_pts_5, 0.0f, alpha / 3, clr); + + List quad_pts_6 = new List { + (pts[quad[1]] * 1.5f + (grid_size - 1.5f) * pts[quad[2]]) / grid_size, + (pts[quad[0]] * 1.5f + (grid_size - 1.5f) * pts[quad[3]]) / grid_size, + (pts[quad[0]] + (grid_size - 1.0f) * pts[quad[3]]) / grid_size, + (pts[quad[1]] + (grid_size - 1.0f) * pts[quad[2]]) / grid_size}; + addQuad(quad_pts_6, alpha / 3, 2 * alpha / 3, clr); + + List quad_pts_7 = new List { + (pts[quad[1]] + (grid_size - 1.0f) * pts[quad[2]]) / grid_size, + (pts[quad[0]] + (grid_size - 1.0f) * pts[quad[3]]) / grid_size, + (pts[quad[0]] * 0.5f + (grid_size - 0.5f) * pts[quad[3]]) / grid_size, + (pts[quad[1]] * 0.5f + (grid_size - 0.5f) * pts[quad[2]]) / grid_size}; + addQuad(quad_pts_7, 2 * alpha / 3, alpha, clr); + + List quad_pts_8 = new List { + (pts[quad[0]] * 0.5f + (grid_size - 0.5f) * pts[quad[3]]) / grid_size, + (pts[quad[1]] * 0.5f + (grid_size - 0.5f) * pts[quad[2]]) / grid_size, + pts[quad[2]], + pts[quad[3]]}; + addQuad(quad_pts_8, alpha, alpha, clr); + } + } + + public void addCylinder(float3 startPosition, float3 endPosition, float4 clr) + { + + ///////////////////////////// + /// Compute Rotation Matrix + ///////////////////////////// + + const float PI = 3.1415926f; + + float m_radius = 0.010f; + + float3 dir = endPosition.sub(startPosition); + + float m_height = dir.norm(); + float x = 0.0f, y = 0.0f, z = 0.0f; + + dir.divide(m_height); + + float3 yAxis = new float3(0,1,0); + + float3 v = dir.cross(yAxis); ; + + Matrix4x4 rotation; + + float sinTheta = v.norm(); + if (sinTheta < 0.00001f) + { + rotation = Matrix4x4.Identity; + } + else + { + float cosTheta = dir.dot(yAxis); + float scale = (1.0f - cosTheta) / (1.0f - (cosTheta * cosTheta)); + + Matrix4x4 vx = new Matrix4x4(0, v.z, -v.y, 0, + -v.z, 0, v.x, 0, + v.y, -v.x, 0, 0, + 0, 0, 0, 1.0f); + + Matrix4x4 vx2 = vx * vx; + Matrix4x4 vx2Scaled = vx2 * scale; + + rotation = Matrix4x4.Identity; + rotation = rotation + vx; + rotation = rotation + vx2Scaled; + } + + ///////////////////////////// + /// Create Cylinder + ///////////////////////////// + + Matrix3x3 rotationMatrix = new Matrix3x3(); + float[] data = new float[9] { rotation.M11, rotation.M12, rotation.M13, rotation.M21, rotation.M22, rotation.M23, rotation.M31, rotation.M32, rotation.M33 }; + rotationMatrix.m = data; + + float3 v1; + float3 v2; + float3 v3; + float3 v4; + float3 normal; + float resolution = 0.1f; + + for (double i = 0; i <= 2 * PI - 1; i += resolution) + { + v1 = rotationMatrix.multiply(new float3(m_radius * (float)Math.Cos(i), 0, m_radius * (float)Math.Sin(i))).add(startPosition); + v2 = rotationMatrix.multiply(new float3(m_radius * (float)Math.Cos(i), m_height, m_radius * (float)Math.Sin(i))).add(startPosition); + v4 = rotationMatrix.multiply(new float3(m_radius * (float)Math.Cos(i + 1), m_height, m_radius * (float)Math.Sin(i + 1))).add(startPosition); + v3 = rotationMatrix.multiply(new float3(m_radius * (float)Math.Cos(i + 1), 0, m_radius * (float)Math.Sin(i + 1))).add(startPosition); + + float3 a = v2.sub(v1); + float3 b = v3.sub(v1); + normal = a.cross(b); + normal.divide(normal.norm()); + + addPoint(v1, clr); + addPoint(v2, clr); + addPoint(v4, clr); + addPoint(v3, clr); + + addNormal(normal); + addNormal(normal); + addNormal(normal); + addNormal(normal); + } + } + + public void addSphere(float3 position, float4 clr) + { + const float PI = 3.1415926f; + + float m_radius = 0.02f; + float radiusInv = 1.0f / m_radius; + + int m_stackCount = 20; + int m_sectorCount = 20; + + float3 v1; + float3 v2; + float3 v3; + float3 v4; + float3 normal; + + for (int i = 0; i <= m_stackCount; i++) + { + double lat0 = PI * (-0.5 + (double)(i - 1) / m_stackCount); + float z0 = (float)Math.Sin(lat0); + float zr0 = (float)Math.Cos(lat0); + + double lat1 = PI * (-0.5 + (double)i / m_stackCount); + float z1 = (float)Math.Sin(lat1); + float zr1 = (float)Math.Cos(lat1); + + for (int j = 0; j <= m_sectorCount - 1; j++) + { + double lng = 2 * PI * (double)(j - 1) / m_sectorCount; + float x = (float)Math.Cos(lng); + float y = (float)Math.Sin(lng); + + v1 = new float3(m_radius * x * zr0, m_radius * y * zr0, m_radius * z0).add(position); + normal = new float3(x * zr0, y * zr0, z0); + addPoint(v1, clr); + addNormal(normal); + + v2 = new float3(m_radius * x * zr1, m_radius * y * zr1, m_radius * z1).add(position); + normal = new float3(x * zr1, y * zr1, z1); + addPoint(v2, clr); + addNormal(normal); + + lng = 2 * PI * (double)j / m_sectorCount; + x = (float)Math.Cos(lng); + y = (float)Math.Sin(lng); + + v4 = new float3(m_radius * x * zr1, m_radius * y * zr1, m_radius * z1).add(position); + normal = new float3(x * zr1, y * zr1, z1); + addPoint(v4, clr); + addNormal(normal); + + v3 = new float3(m_radius * x * zr0, m_radius * y * zr0, m_radius * z0).add(position); + normal = new float3(x * zr0, y * zr0, z0); + addPoint(v3, clr); + addNormal(normal); + } + } + } + + public void pushToGPU() + { + if (!isStatic_ || vaoID_ == 0) + { + if (vaoID_ == 0) + { + vaoID_ = Gl.GenVertexArray(); + Gl.GenBuffers(vboID_); + } + + Gl.ShadeModel(ShadingModel.Smooth); + if (vertices_.Count() > 0) + { + Gl.BindVertexArray(vaoID_); + Gl.BindBuffer(BufferTarget.ArrayBuffer, vboID_[0]); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)vertices_.Count() * sizeof(float), vertices_.ToArray(), isStatic_ ? BufferUsage.StaticDraw : BufferUsage.DynamicDraw); + Gl.VertexAttribPointer(Shader.ATTRIB_VERTICES_POS, 3, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.EnableVertexAttribArray(Shader.ATTRIB_VERTICES_POS); + } + if (colors_.Count() > 0) + { + + Gl.BindBuffer(BufferTarget.ArrayBuffer, vboID_[1]); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)colors_.Count() * sizeof(float), colors_.ToArray(), isStatic_ ? BufferUsage.StaticDraw : BufferUsage.DynamicDraw); + Gl.VertexAttribPointer(Shader.ATTRIB_COLOR_POS, 4, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.EnableVertexAttribArray(Shader.ATTRIB_COLOR_POS); + } + if (indices_.Count() > 0) + { + + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, vboID_[2]); + Gl.BufferData(BufferTarget.ElementArrayBuffer, (uint)indices_.Count() * sizeof(float), indices_.ToArray(), isStatic_ ? BufferUsage.StaticDraw : BufferUsage.DynamicDraw); + } + if (normals_.Count() > 0) + { + Gl.BindBuffer(BufferTarget.ArrayBuffer, vboID_[3]); + Gl.BufferData(BufferTarget.ArrayBuffer, (uint)normals_.Count() * sizeof(float), normals_.ToArray(), isStatic_ ? BufferUsage.StaticDraw : BufferUsage.DynamicDraw); + Gl.VertexAttribPointer(Shader.ATTRIB_NORMAL, 3, VertexAttribType.Float, false, 0, IntPtr.Zero); + Gl.EnableVertexAttribArray(Shader.ATTRIB_NORMAL); + } + + Gl.BindVertexArray(0); + Gl.BindBuffer(BufferTarget.ElementArrayBuffer, 0); + Gl.BindBuffer(BufferTarget.ArrayBuffer, 0); + } + } + + public void clear() + { + vertices_.Clear(); + colors_.Clear(); + indices_.Clear(); + normals_.Clear(); + } + + public void setDrawingType(PrimitiveType type) + { + drawingType_ = type; + } + + public void draw() + { + if (indices_.Count() > 0 && vaoID_ != 0) + { + Gl.BindVertexArray(vaoID_); + Gl.DrawElements(drawingType_, indices_.Count(), DrawElementsType.UnsignedInt, IntPtr.Zero); + Gl.BindVertexArray(0); + } + } + + public float grid_size = 9.0f; + + private List vertices_; + private List colors_; + private List indices_; + private List normals_; + + private bool isStatic_; + private bool is_init; + + private uint vaoID_; + + /* + Vertex buffer IDs: + - [0]: Vertices coordinates; + - [1]: Colors; + - [2]: Indices; + - [3]: Normals + */ + private uint[] vboID_ = new uint[4]; + + private ShaderData shader; + + private float3 position_; + private Matrix3x3 rotation_; + + PrimitiveType drawingType_; + }; + + + + +} diff --git a/spatial mapping/overview/csharp/MainWindow.cs b/spatial mapping/overview/csharp/MainWindow.cs new file mode 100644 index 00000000..d840d94c --- /dev/null +++ b/spatial mapping/overview/csharp/MainWindow.cs @@ -0,0 +1,354 @@ +/////////////////////////////////////////////////////////////////////////// +// +// Copyright (c) 2022, STEREOLABS. +// +// All rights reserved. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +// +/////////////////////////////////////////////////////////////////////////// + +/************************************************************************* + ** This sample shows how to capture a real-time 3D reconstruction ** + ** of the scene using the Spatial Mapping API. The resulting mesh ** + ** is displayed as a wireframe on top of the left image using OpenGL. ** + ** Spatial Mapping can be started and stopped with the space bar key ** + *************************************************************************/ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Numerics; +using System.Net; +using System.Threading.Tasks; +using System.Windows.Forms; +using OpenGL; +using OpenGL.CoreUI; +using System.Diagnostics; + +namespace sl +{ + class MainWindow + { + GLViewer viewer; + Camera zedCamera; + SpatialMappingParameters spatialMappingParameters; + RuntimeParameters runtimeParameters; + POSITIONAL_TRACKING_STATE tracking_state; + SPATIAL_MAPPING_STATE mapping_state; + bool mapping_activated; + Pose cam_pose; + Mat zedMat; + Mesh mesh; + int timer = 0; + FusedPointCloud fusedPointCloud; + + // Choose between MESH and FUSED_POINT_CLOUD + const bool CREATE_MESH = true; + + 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); + + tracking_state = POSITIONAL_TRACKING_STATE.OFF; + mapping_state = SPATIAL_MAPPING_STATE.NOT_ENABLED; + mapping_activated = false; + + // Enable tracking + PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters(); + zedCamera.EnablePositionalTracking(ref positionalTrackingParameters); + + runtimeParameters = new RuntimeParameters(); + + spatialMappingParameters = new SpatialMappingParameters(); + spatialMappingParameters.resolutionMeter = SpatialMappingParameters.get(MAPPING_RESOLUTION.MEDIUM); + spatialMappingParameters.saveTexture = true; + if (CREATE_MESH) spatialMappingParameters.map_type = SPATIAL_MAP_TYPE.MESH; + else spatialMappingParameters.map_type = SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD; + + // Create ZED Objects filled in the main loop + zedMat = new Mat(); + cam_pose = new Pose(); + + //Create mesh. + mesh = new Mesh(); + fusedPointCloud = new FusedPointCloud(); + 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)); + + Console.WriteLine("Hit SPACE BAR to start spatial mapping..."); + + // Create OpenGL window + CreateWindow(); + } + + // Create Window + public void CreateWindow() + { + using (OpenGL.CoreUI.NativeWindow nativeWindow = OpenGL.CoreUI.NativeWindow.Create()) + { + nativeWindow.ContextCreated += NativeWindow_ContextCreated; + nativeWindow.Render += NativeWindow_Render; + nativeWindow.KeyDown += (object obj, NativeWindowKeyEventArgs e) => + { + switch (e.Key) + { + case KeyCode.Escape: + close(); + nativeWindow.Stop(); + break; + + case KeyCode.F: + nativeWindow.Fullscreen = !nativeWindow.Fullscreen; + break; + case KeyCode.Space: + viewer.change_state = !viewer.change_state; + break; + } + }; + + nativeWindow.MultisampleBits = 4; + + int wnd_h = Screen.PrimaryScreen.Bounds.Height; + int wnd_w = Screen.PrimaryScreen.Bounds.Width; + + int height = (int)(wnd_h * 0.9f); + int width = (int)(wnd_w * 0.9f); + + if (width > zedCamera.ImageWidth && height > zedCamera.ImageHeight) + { + width = zedCamera.ImageWidth; + height = zedCamera.ImageHeight; + } + + nativeWindow.Create((int)(zedCamera.ImageWidth * 0.05f), (int)(zedCamera.ImageHeight * 0.05f), (uint)width, (uint)height, NativeWindowStyle.Resizeable); + nativeWindow.Show(); + try + { + nativeWindow.Run(); + } + catch (Exception e) + { + Console.WriteLine("Mouse wheel is broken in the current OPENGL .NET VERSION. Please do not use it."); + } + } + } + + // Init Window + private void NativeWindow_ContextCreated(object sender, NativeWindowEventArgs e) + { + OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender; + + Gl.ReadBuffer(ReadBufferMode.Back); + Gl.ClearColor(0.0f, 0.0f, 0.0f, 1.0f); + + Gl.Enable(EnableCap.Blend); + Gl.BlendFunc(BlendingFactor.SrcAlpha, BlendingFactor.OneMinusSrcAlpha); + + Gl.Enable(EnableCap.LineSmooth); + Gl.Hint(HintTarget.LineSmoothHint, HintMode.Nicest); + + viewer.init(zedCamera.GetCalibrationParameters().leftCam, CREATE_MESH); + } + + // 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 (zedMat.IsInit()) + { + // Retrieve left image + err = zedCamera.RetrieveImage(zedMat, sl.VIEW.LEFT, sl.MEM.CPU); + // Update pose data (used for projection of the mesh over the current image) + tracking_state = zedCamera.GetPosition(ref cam_pose); + + if (mapping_activated) + { + mapping_state = zedCamera.GetSpatialMappingState(); + if (timer % 60 == 0 && viewer.chunksUpdated() == true) + { + zedCamera.RequestSpatialMap(); + } + if (zedCamera.GetMeshRequestStatus() == ERROR_CODE.SUCCESS && timer > 0) + { + /// MAP_TYPE == MESH + if (CREATE_MESH) + { + //Retrieves data for mesh visualization only (vertices + triangles); + zedCamera.RetrieveChunks(ref mesh); + + var chunks = new List(mesh.chunks.Values); + viewer.updateData(chunks); + } + + /// MAP_TYPE == FUSED_POINT_CLOUD + else + { + zedCamera.RetrieveSpatialMap(ref fusedPointCloud); + viewer.updateData(fusedPointCloud.vertices); + } + } + } + + bool change_state = viewer.updateImageAndState(zedMat, cam_pose, tracking_state, mapping_state); + + if (change_state) + { + if (!mapping_activated) + { + Quaternion quat = Quaternion.Identity; Vector3 vec = Vector3.Zero; + zedCamera.ResetPositionalTracking(quat, vec); + + zedCamera.EnableSpatialMapping(ref spatialMappingParameters); + + Console.WriteLine("Hit SPACE BAR to stop spatial mapping..."); + // Clear previous Mesh data + viewer.clearCurrentMesh(); + + mapping_activated = true; + } + else + { + // Filter the mesh (remove unnecessary vertices and faces) + if (CREATE_MESH) + { + zedCamera.ExtractWholeSpatialMap(); + zedCamera.FilterMesh(MESH_FILTER.MEDIUM, ref mesh); + } + + if (CREATE_MESH && spatialMappingParameters.saveTexture) + { + zedCamera.ApplyTexture(ref mesh); + } + + bool error_save = false; + string saveName = ""; + //Save mesh as obj file + if (CREATE_MESH) + { + saveName = "mesh_gen.obj"; + error_save = zedCamera.SaveMesh(saveName, MESH_FILE_FORMAT.OBJ); + } + else + { + saveName = "point_cloud.ply"; + error_save = zedCamera.SavePointCloud(saveName, MESH_FILE_FORMAT.PLY); + } + + + if (error_save) + { + Console.WriteLine("Mesh saved under: " + saveName); + } + else + { + Console.WriteLine("Failed to save the mesh under: " + saveName); + } + + mapping_state = SPATIAL_MAPPING_STATE.NOT_ENABLED; + mapping_activated = false; + zedCamera.DisableSpatialMapping(); + + Console.WriteLine("Hit SPACE BAR to start spatial mapping..."); + } + } + timer++; + viewer.render(); + } + } + } + + private void close() + { + zedCamera.DisableSpatialMapping(); + zedCamera.DisablePositionalTracking(); + zedCamera.Close(); + viewer.exit(); + } + + private void parseArgs(string[] args , ref sl.InitParameters param) + { + if (args.Length > 0 && args[0].IndexOf(".svo") != -1) + { + // SVO input mode + param.inputType = INPUT_TYPE.SVO; + param.pathSVO = args[0]; + Console.WriteLine("[Sample] Using SVO File input: " + args[0]); + } + else if (args.Length > 0 && args[0].IndexOf(".svo") == -1) + { + IPAddress ip; + string arg = args[0]; + if (IPAddress.TryParse(arg, out ip)) + { + // Stream input mode - IP + port + param.inputType = INPUT_TYPE.STREAM; + param.ipStream = ip.ToString(); + Console.WriteLine("[Sample] Using Stream input, IP : " + ip); + } + else if (args[0].IndexOf("HD2K") != -1) + { + param.resolution = sl.RESOLUTION.HD2K; + Console.WriteLine("[Sample] Using Camera in resolution HD2K"); + } + else if (args[0].IndexOf("HD1080") != -1) + { + param.resolution = sl.RESOLUTION.HD1080; + Console.WriteLine("[Sample] Using Camera in resolution HD1080"); + } + else if (args[0].IndexOf("HD720") != -1) + { + param.resolution = sl.RESOLUTION.HD720; + Console.WriteLine("[Sample] Using Camera in resolution HD720"); + } + else if (args[0].IndexOf("VGA") != -1) + { + param.resolution = sl.RESOLUTION.VGA; + Console.WriteLine("[Sample] Using Camera in resolution VGA"); + } + } + else + { + // + } + } + } +} diff --git a/spatial mapping/overview/csharp/Program.cs b/spatial mapping/overview/csharp/Program.cs new file mode 100644 index 00000000..9504e1bd --- /dev/null +++ b/spatial mapping/overview/csharp/Program.cs @@ -0,0 +1,15 @@ +//======= Copyright (c) Stereolabs Corporation, All rights reserved. =============== +using System; +using System.Runtime.InteropServices; +using System.Threading.Tasks; + +namespace sl +{ + class Program + { + static void Main(string[] args) + { + MainWindow window = new MainWindow(args); + } + } +} \ No newline at end of file diff --git a/spatial mapping/overview/csharp/Properties/AssemblyInfo.cs b/spatial mapping/overview/csharp/Properties/AssemblyInfo.cs new file mode 100644 index 00000000..580aea52 --- /dev/null +++ b/spatial mapping/overview/csharp/Properties/AssemblyInfo.cs @@ -0,0 +1,36 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// General Information about an assembly is controlled through the following +// set of attributes. Change these attribute values to modify the information +// associated with an assembly. +[assembly: AssemblyTitle("Tutorials")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("Tutorials")] +[assembly: AssemblyCopyright("Copyright © 2021")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// Setting ComVisible to false makes the types in this assembly not visible +// to COM components. If you need to access a type in this assembly from +// COM, set the ComVisible attribute to true on that type. +[assembly: ComVisible(false)] + +// The following GUID is for the ID of the typelib if this project is exposed to COM +[assembly: Guid("db8455c8-b2a9-4e62-9597-7b26c432a999")] + +// Version information for an assembly consists of the following four values: +// +// Major Version +// Minor Version +// Build Number +// Revision +// +// You can specify all the values or you can default the Build and Revision Numbers +// by using the '*' as shown below: +// [assembly: AssemblyVersion("1.0.*")] +[assembly: AssemblyVersion("1.0.0.0")] +[assembly: AssemblyFileVersion("1.0.0.0")] diff --git a/spatial mapping/overview/csharp/Properties/Resources.Designer.cs b/spatial mapping/overview/csharp/Properties/Resources.Designer.cs new file mode 100644 index 00000000..54694871 --- /dev/null +++ b/spatial mapping/overview/csharp/Properties/Resources.Designer.cs @@ -0,0 +1,63 @@ +//------------------------------------------------------------------------------ +// +// Ce code a été généré par un outil. +// Version du runtime :4.0.30319.42000 +// +// Les modifications apportées à ce fichier peuvent provoquer un comportement incorrect et seront perdues si +// le code est régénéré. +// +//------------------------------------------------------------------------------ + +namespace Image_capture.Properties { + using System; + + + /// + /// Une classe de ressource fortement typée destinée, entre autres, à la consultation des chaînes localisées. + /// + // Cette classe a été générée automatiquement par la classe StronglyTypedResourceBuilder + // à l'aide d'un outil, tel que ResGen ou Visual Studio. + // Pour ajouter ou supprimer un membre, modifiez votre fichier .ResX, puis réexécutez ResGen + // avec l'option /str ou régénérez votre projet VS. + [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "15.0.0.0")] + [global::System.Diagnostics.DebuggerNonUserCodeAttribute()] + [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] + internal class Resources { + + private static global::System.Resources.ResourceManager resourceMan; + + private static global::System.Globalization.CultureInfo resourceCulture; + + [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")] + internal Resources() { + } + + /// + /// Retourne l'instance ResourceManager mise en cache utilisée par cette classe. + /// + [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] + internal static global::System.Resources.ResourceManager ResourceManager { + get { + if (object.ReferenceEquals(resourceMan, null)) { + global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("Image_capture.Properties.Resources", typeof(Resources).Assembly); + resourceMan = temp; + } + return resourceMan; + } + } + + /// + /// Remplace la propriété CurrentUICulture du thread actuel pour toutes + /// les recherches de ressources à l'aide de cette classe de ressource fortement typée. + /// + [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] + internal static global::System.Globalization.CultureInfo Culture { + get { + return resourceCulture; + } + set { + resourceCulture = value; + } + } + } +} diff --git a/spatial mapping/overview/csharp/Properties/Resources.resx b/spatial mapping/overview/csharp/Properties/Resources.resx new file mode 100644 index 00000000..af7dbebb --- /dev/null +++ b/spatial mapping/overview/csharp/Properties/Resources.resx @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + text/microsoft-resx + + + 2.0 + + + System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + + System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 + + \ No newline at end of file diff --git a/spatial mapping/overview/csharp/Properties/Settings.Designer.cs b/spatial mapping/overview/csharp/Properties/Settings.Designer.cs new file mode 100644 index 00000000..84a7c738 --- /dev/null +++ b/spatial mapping/overview/csharp/Properties/Settings.Designer.cs @@ -0,0 +1,26 @@ +//------------------------------------------------------------------------------ +// +// Ce code a été généré par un outil. +// Version du runtime :4.0.30319.42000 +// +// Les modifications apportées à ce fichier peuvent provoquer un comportement incorrect et seront perdues si +// le code est régénéré. +// +//------------------------------------------------------------------------------ + +namespace Image_capture.Properties { + + + [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] + [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "15.9.0.0")] + internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase { + + private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings()))); + + public static Settings Default { + get { + return defaultInstance; + } + } + } +} diff --git a/spatial mapping/overview/csharp/Properties/Settings.settings b/spatial mapping/overview/csharp/Properties/Settings.settings new file mode 100644 index 00000000..033d7a5e --- /dev/null +++ b/spatial mapping/overview/csharp/Properties/Settings.settings @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/spatial mapping/overview/csharp/README.md b/spatial mapping/overview/csharp/README.md new file mode 100644 index 00000000..ca4c8aec --- /dev/null +++ b/spatial mapping/overview/csharp/README.md @@ -0,0 +1,25 @@ +# ZED SDK - Spatial Mapping + +This sample shows how to map your environment. + +## Getting Started + - Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/), NuGet packages are automatically downloaded + - Check the [Documentation](https://www.stereolabs.com/docs/) + +## Build the program + - Build for [Windows](https://www.stereolabs.com/docs/app-development/cpp/windows/) + +## Run the program +- Navigate to the build directory and launch the executable +- Or open a terminal in the build directory and run the sample : + + ./ZED_Spatial_Mapping + +### Features + - Press 'Spacebar' to start/stop the mapping process + - real time overlay of the mesh to the image + - textures and post filters can be apply to the Mesh + - final mesh is saved + +## Support +If you need assistance go to our Community site at https://community.stereolabs.com/ \ No newline at end of file diff --git a/spatial mapping/overview/csharp/packages.config b/spatial mapping/overview/csharp/packages.config new file mode 100644 index 00000000..a9c5fe79 --- /dev/null +++ b/spatial mapping/overview/csharp/packages.config @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/spatial mapping/overview/python/README.md b/spatial mapping/overview/python/README.md new file mode 100644 index 00000000..752a84ad --- /dev/null +++ b/spatial mapping/overview/python/README.md @@ -0,0 +1,20 @@ +# ZED SDK - Spatial Mapping + +This sample shows how to map your environment. + +## Getting Started + - Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/) and [pyZED Package](https://www.stereolabs.com/docs/app-development/python/install/) + - Check the [Documentation](https://www.stereolabs.com/docs/) + +## Run the program + + python "spatial_mapping.py" + +### Features + - Press 'Spacebar' to start/stop the mapping process + - real time overlay of the mesh to the image + - textures and post filters can be apply to the Mesh + - final mesh is saved + +## Support +If you need assistance go to our Community site at https://community.stereolabs.com/ \ No newline at end of file diff --git a/spatial mapping/overview/python/mesh_gen.obj b/spatial mapping/overview/python/mesh_gen.obj new file mode 100644 index 00000000..03646873 --- /dev/null +++ b/spatial mapping/overview/python/mesh_gen.obj @@ -0,0 +1,99537 @@ +#Generated by the ZED SDK. +v 0.400000 -0.693005 -2.000000 0.345098 0.301961 0.305882 +v 0.417322 -0.700000 -2.000000 0.345098 0.301961 0.305882 +v 0.400000 -0.689613 -2.050000 0.345098 0.301961 0.305882 +v 0.430063 -0.700000 -2.050000 0.345098 0.301961 0.305882 +v 0.450000 -0.706976 -2.050000 0.584314 0.552941 0.466667 +v 0.450000 -0.720268 -2.000000 0.584314 0.552941 0.466667 +v 0.500000 -0.714767 -2.050000 0.713726 0.674510 0.623529 +v 0.500000 -0.718600 -2.000000 0.713726 0.674510 0.623529 +v 0.550000 -0.719872 -2.050000 0.545098 0.533333 0.490196 +v 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glEnable(GL_LINE_SMOOTH) + glHint(GL_LINE_SMOOTH_HINT, GL_NICEST) + + # Initialize image renderer + self.image_handler.initialize(_params.image_size) + + self.init_mesh(_mesh, _create_mesh) + + # Compile and create the shader + if(self.draw_mesh): + self.shader_image = Shader(MESH_VERTEX_SHADER, FRAGMENT_SHADER) + else: + self.shader_image = Shader(FPC_VERTEX_SHADER, FRAGMENT_SHADER) + + self.shader_MVP = glGetUniformLocation(self.shader_image.get_program_id(), "u_mvpMatrix") + self.shader_color_loc = glGetUniformLocation(self.shader_image.get_program_id(), "u_color") + # Create the rendering camera + self.set_render_camera_projection(_params) + + glLineWidth(1.) + glPointSize(4.) + + # Register the drawing function with GLUT + glutDisplayFunc(self.draw_callback) + # Register the function called when nothing happens + glutIdleFunc(self.idle) + + glutKeyboardUpFunc(self.keyReleasedCallback) + + # Register the closing function + glutCloseFunc(self.close_func) + + self.ask_clear = False + self.available = True + + # Set color for wireframe + self.vertices_color = [0.12,0.53,0.84] + + # Ready to start + self.chunks_pushed = True + + def init_mesh(self, _mesh, _create_mesh): + self.draw_mesh = _create_mesh + self.mesh = _mesh + + def set_render_camera_projection(self, _params): + # Just slightly move up the ZED camera FOV to make a small black border + fov_y = (_params.v_fov + 0.5) * M_PI / 180 + fov_x = (_params.h_fov + 0.5) * M_PI / 180 + + self.projection[(0,0)] = 1. / math.tan(fov_x * .5) + self.projection[(1,1)] = 1. / math.tan(fov_y * .5) + self.projection[(2,2)] = -(self.zfar + self.znear) / (self.zfar - self.znear) + self.projection[(3,2)] = -1. + self.projection[(2,3)] = -(2. * self.zfar * self.znear) / (self.zfar - self.znear) + self.projection[(3,3)] = 0. + + def print_GL(self, _x, _y, _string): + glRasterPos(_x, _y) + for i in range(len(_string)): + glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, ctypes.c_int(ord(_string[i]))) + + def is_available(self): + if self.available: + glutMainLoopEvent() + return self.available + + def render_object(self, _object_data): # _object_data of type sl.ObjectData + if _object_data.tracking_state == sl.OBJECT_TRACKING_STATE.OK or _object_data.tracking_state == sl.OBJECT_TRACKING_STATE.OFF: + return True + else: + return False + + def update_chunks(self): + self.new_chunks = True + self.chunks_pushed = False + + def chunks_updated(self): + return self.chunks_pushed + + def clear_current_mesh(self): + self.ask_clear = True + self.new_chunks = True + + def update_view(self, _image, _pose, _tracking_state, _mapping_state): + self.mutex.acquire() + if self.available: + # update image + self.image_handler.push_new_image(_image) + self.pose = _pose + self.tracking_state = _tracking_state + self.mapping_state = _mapping_state + self.mutex.release() + copy_state = self.change_state + self.change_state = False + return copy_state + + def idle(self): + if self.available: + glutPostRedisplay() + + def exit(self): + if self.available: + self.available = False + self.image_handler.close() + + def close_func(self): + if self.available: + self.available = False + self.image_handler.close() + + def keyReleasedCallback(self, key, x, y): + if ord(key) == 113 or ord(key) == 27: # 'q' key + self.close_func() + if ord(key) == 32: # space bar + self.change_state = True + + def draw_callback(self): + if self.available: + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) + glClearColor(0, 0, 0, 1.0) + + self.mutex.acquire() + self.update() + self.draw() + self.print_text() + self.mutex.release() + + glutSwapBuffers() + glutPostRedisplay() + + # Update both Mesh and FPC + def update(self): + if self.new_chunks: + if self.ask_clear: + self.sub_maps = [] + self.ask_clear = False + + nb_c = len(self.mesh.chunks) + + if nb_c > len(self.sub_maps): + for n in range(len(self.sub_maps),nb_c): + self.sub_maps.append(SubMapObj()) + + # For both Mesh and FPC + for m in range(len(self.sub_maps)): + if (m < nb_c) and self.mesh.chunks[m].has_been_updated: + if self.draw_mesh: + self.sub_maps[m].update_mesh(self.mesh.chunks[m]) + else: + self.sub_maps[m].update_fpc(self.mesh.chunks[m]) + + self.new_chunks = False + self.chunks_pushed = True + + def draw(self): + if self.available: + self.image_handler.draw() + + # If the Positional tracking is good, we can draw the mesh over the current image + if self.tracking_state == sl.POSITIONAL_TRACKING_STATE.OK and len(self.sub_maps) > 0: + # Draw the mesh in GL_TRIANGLES with a polygon mode in line (wire) + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE) + + # Send the projection and the Pose to the GLSL shader to make the projection of the 2D image + tmp = self.pose + tmp.inverse() + proj = (self.projection * tmp).m + vpMat = proj.flatten() + + glUseProgram(self.shader_image.get_program_id()) + glUniformMatrix4fv(self.shader_MVP, 1, GL_TRUE, (GLfloat * len(vpMat))(*vpMat)) + glUniform3fv(self.shader_color_loc, 1, (GLfloat * len(self.vertices_color))(*self.vertices_color)) + + for m in range(len(self.sub_maps)): + self.sub_maps[m].draw(self.draw_mesh) + + glUseProgram(0) + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL) + + def print_text(self): + if self.available: + # Display keyboard action + if self.mapping_state == sl.SPATIAL_MAPPING_STATE.NOT_ENABLED: + glColor3f(0.15, 0.15, 0.15) + self.print_GL(-0.99, 0.9, "Hit Space Bar to activate Spatial Mapping.") + else: + glColor3f(0.25, 0.25, 0.25) + self.print_GL(-0.99, 0.9, "Hit Space Bar to stop spatial mapping.") + + positional_tracking_state_str = "POSITIONAL TRACKING STATE : " + spatial_mapping_state_str = "SPATIAL MAPPING STATE : " + state_str = "" + + # Display spatial mapping state + if self.tracking_state == sl.POSITIONAL_TRACKING_STATE.OK: + if self.mapping_state == sl.SPATIAL_MAPPING_STATE.OK or self.mapping_state == sl.SPATIAL_MAPPING_STATE.INITIALIZING: + glColor3f(0.25, 0.99, 0.25) + elif self.mapping_state == sl.SPATIAL_MAPPING_STATE.NOT_ENABLED: + glColor3f(0.55, 0.65, 0.55) + else: + glColor3f(0.95, 0.25, 0.25) + state_str = spatial_mapping_state_str + str(self.mapping_state) + else: + if self.mapping_state != sl.SPATIAL_MAPPING_STATE.NOT_ENABLED: + glColor3f(0.95, 0.25, 0.25) + state_str = positional_tracking_state_str + str(self.tracking_state) + else: + glColor3f(0.55, 0.65, 0.55) + state_str = spatial_mapping_state_str + str(sl.SPATIAL_MAPPING_STATE.NOT_ENABLED) + self.print_GL(-0.99, 0.83, state_str) + +class SubMapObj: + def __init__(self): + self.current_fc = 0 + self.vboID = None + self.index = [] # For FPC only + self.vert = [] + self.tri = [] + + def update_mesh(self, _chunk): + if(self.vboID is None): + self.vboID = glGenBuffers(2) + + if len(_chunk.vertices): + self.vert = _chunk.vertices.flatten() # transform _chunk.vertices into 1D array + glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0]) + glBufferData(GL_ARRAY_BUFFER, len(self.vert) * self.vert.itemsize, (GLfloat * len(self.vert))(*self.vert), GL_DYNAMIC_DRAW) + + if len(_chunk.triangles): + self.tri = _chunk.triangles.flatten() # transform _chunk.triangles into 1D array + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[1]) + glBufferData(GL_ELEMENT_ARRAY_BUFFER, len(self.tri) * self.tri.itemsize , (GLuint * len(self.tri))(*self.tri), GL_DYNAMIC_DRAW) + self.current_fc = len(self.tri) + + def update_fpc(self, _chunk): + if(self.vboID is None): + self.vboID = glGenBuffers(2) + + if len(_chunk.vertices): + self.vert = _chunk.vertices.flatten() # transform _chunk.vertices into 1D array + glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0]) + glBufferData(GL_ARRAY_BUFFER, len(self.vert) * self.vert.itemsize, (GLfloat * len(self.vert))(*self.vert), GL_DYNAMIC_DRAW) + + for i in range(len(_chunk.vertices)): + self.index.append(i) + + index_np = np.array(self.index) + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[1]) + glBufferData(GL_ELEMENT_ARRAY_BUFFER, len(index_np) * index_np.itemsize, (GLuint * len(index_np))(*index_np), GL_DYNAMIC_DRAW) + self.current_fc = len(index_np) + + def draw(self, _draw_mesh): + if self.current_fc: + glEnableVertexAttribArray(0) + glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0]) + if _draw_mesh == True: + glVertexAttribPointer(0,3,GL_FLOAT,GL_FALSE,0,None) + else: + glVertexAttribPointer(0,4,GL_FLOAT,GL_FALSE,0,None) + + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[1]) + if len(self.index) > 0: + glDrawElements(GL_POINTS, self.current_fc, GL_UNSIGNED_INT, None) + else: + glDrawElements(GL_TRIANGLES, self.current_fc, GL_UNSIGNED_INT, None) + + glDisableVertexAttribArray(0) diff --git a/spatial mapping/overview/python/spatial_mapping.py b/spatial mapping/overview/python/spatial_mapping.py new file mode 100644 index 00000000..022f8783 --- /dev/null +++ b/spatial mapping/overview/python/spatial_mapping.py @@ -0,0 +1,172 @@ +######################################################################## +# +# Copyright (c) 2022, STEREOLABS. +# +# All rights reserved. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +# +######################################################################## + +""" + This sample shows how to capture a real-time 3D reconstruction + of the scene using the Spatial Mapping API. The resulting mesh + is displayed as a wireframe on top of the left image using OpenGL. + Spatial Mapping can be started and stopped with the Space Bar key +""" +import sys +import time +import pyzed.sl as sl +import ogl_viewer.viewer as gl + +# Set this variable to 'True' for a Mesh viewer +# or to 'False' for a Point Cloud viewer +CREATE_MESH = False + +def main(): + print("Running Spatial Mapping sample ... Press 'q' to quit") + + # Create a Camera object + zed = sl.Camera() + + # Create a InitParameters object and set configuration parameters + init_params = sl.InitParameters() + init_params.camera_resolution = sl.RESOLUTION.HD720 # Use HD720 video mode + init_params.coordinate_units = sl.UNIT.METER # Set coordinate units + init_params.coordinate_system = sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP # OpenGL coordinates + + # If applicable, use the SVO given as parameter + # Otherwise use ZED live stream + if len(sys.argv) == 2: + filepath = sys.argv[1] + print("Using SVO file: {0}".format(filepath)) + init_params.set_from_svo_file(filepath) + + # Open the camera + status = zed.open(init_params) + if status != sl.ERROR_CODE.SUCCESS: + print(repr(status)) + exit() + + # Get camera parameters + camera_parameters = zed.get_camera_information().camera_configuration.calibration_parameters.left_cam + + if CREATE_MESH: + pymesh = sl.Mesh() # Current incremental mesh + else: + pymesh = sl.FusedPointCloud() # Current incremental FusedPointCloud + image = sl.Mat() # Left image from camera + pose = sl.Pose() # Camera pose tracking data + + viewer = gl.GLViewer() + viewer.init(camera_parameters, pymesh, CREATE_MESH) + + spatial_mapping_parameters = sl.SpatialMappingParameters() + tracking_state = sl.POSITIONAL_TRACKING_STATE.OFF + mapping_state = sl.SPATIAL_MAPPING_STATE.NOT_ENABLED + mapping_activated = False + last_call = time.time() # Timestamp of last mesh request + + # Enable positional tracking + err = zed.enable_positional_tracking() + if err != sl.ERROR_CODE.SUCCESS: + print(repr(err)) + exit() + + # Set runtime parameters + runtime = sl.RuntimeParameters() + + while viewer.is_available(): + # Grab an image, a RuntimeParameters object must be given to grab() + if zed.grab(runtime) == sl.ERROR_CODE.SUCCESS: + # Retrieve left image + zed.retrieve_image(image, sl.VIEW.LEFT) + # Update pose data (used for projection of the mesh over the current image) + tracking_state = zed.get_position(pose) + + if mapping_activated: + mapping_state = zed.get_spatial_mapping_state() + # Compute elapsed time since the last call of Camera.request_spatial_map_async() + duration = time.time() - last_call + # Ask for a mesh update if 500ms elapsed since last request + if(duration > .5 and viewer.chunks_updated()): + zed.request_spatial_map_async() + last_call = time.time() + + if zed.get_spatial_map_request_status_async() == sl.ERROR_CODE.SUCCESS: + zed.retrieve_spatial_map_async(pymesh) + viewer.update_chunks() + + change_state = viewer.update_view(image, pose.pose_data(), tracking_state, mapping_state) + + if change_state: + if not mapping_activated: + init_pose = sl.Transform() + zed.reset_positional_tracking(init_pose) + + # Configure spatial mapping parameters + spatial_mapping_parameters.resolution_meter = sl.SpatialMappingParameters().get_resolution_preset(sl.MAPPING_RESOLUTION.MEDIUM) + spatial_mapping_parameters.use_chunk_only = True + spatial_mapping_parameters.save_texture = False # Set to True to apply texture over the created mesh + if CREATE_MESH: + spatial_mapping_parameters.map_type = sl.SPATIAL_MAP_TYPE.MESH + else: + spatial_mapping_parameters.map_type = sl.SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD + + # Enable spatial mapping + zed.enable_spatial_mapping(spatial_mapping_parameters) + + # Clear previous mesh data + pymesh.clear() + viewer.clear_current_mesh() + + # Start timer + last_call = time.time() + + mapping_activated = True + else: + # Extract whole mesh + zed.extract_whole_spatial_map(pymesh) + + if CREATE_MESH: + filter_params = sl.MeshFilterParameters() + filter_params.set(sl.MESH_FILTER.MEDIUM) + # Filter the extracted mesh + pymesh.filter(filter_params, True) + viewer.clear_current_mesh() + + # If textures have been saved during spatial mapping, apply them to the mesh + if(spatial_mapping_parameters.save_texture): + print("Save texture set to : {}".format(spatial_mapping_parameters.save_texture)) + pymesh.apply_texture(sl.MESH_TEXTURE_FORMAT.RGBA) + + # Save mesh as an obj file + filepath = "mesh_gen.obj" + status = pymesh.save(filepath) + if status: + print("Mesh saved under " + filepath) + else: + print("Failed to save the mesh under " + filepath) + + mapping_state = sl.SPATIAL_MAPPING_STATE.NOT_ENABLED + mapping_activated = False + + image.free(memory_type=sl.MEM.CPU) + pymesh.clear() + # 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zN${q%t#~f+Ei`Q-$9MMHh32;nxm!&}ky8_g?Gwg=0&vz?)pGNoG%q!E=Q93F&@_4KcUekpjv;zx#| z)pW0c{{XWrma`UB7gkzztg2LyLq#>>NS!h_D99j;f(h=-w;CRU4x!>r5B4?FEp5^X z^*c)~4qabT)1r1j__ek!Wpoe7N7=zU!u;dr@Z2dGwN{;0x~Vw0`Q0|s`JTN@)!o8$ z(|cO!{H&8aQ^Fs%ABI0^U2fk^_|4&{TH@waiM(Z@D6-XURGwaVkqlQ#6(Wpf14kOU zQ0{B!KOTP1(|*-|2!@{~r4Ns_Z5F@}3V82J3Fc~SAZgB#s>0H5f>1u}vXG$4g`H)0 zj(l|erhjMu00B$(%}Yc0cjJg;{mR&QZ{ZZ0UEEH261=yQ7|dWPQlsZ4MI(UKt>N$6 z`@y~x@ibST4gLczpZ3djfwddhZ9F=~UBM{Qq*5S*<&BHHs=Q=?6fyfe78eCZE|z16 rjZSSFif&DGzb`VATixorpFN9~CCOC5QIu_}zKK61?9%Ag&$0j63pkE` literal 0 HcmV?d00001 diff --git a/tutorials/tutorial 1 - hello ZED/c/CMakeLists.txt b/tutorials/tutorial 1 - hello ZED/c/CMakeLists.txt index 64f8aeb3..5707d9c5 100644 --- a/tutorials/tutorial 1 - hello ZED/c/CMakeLists.txt +++ b/tutorials/tutorial 1 - hello ZED/c/CMakeLists.txt @@ -7,10 +7,14 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") @@ -19,4 +23,4 @@ endif(WIN32) ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) \ No newline at end of file diff --git a/tutorials/tutorial 1 - hello ZED/c/main.c b/tutorials/tutorial 1 - hello ZED/c/main.c index bbcc4b4c..fbfec979 100644 --- a/tutorials/tutorial 1 - hello ZED/c/main.c +++ b/tutorials/tutorial 1 - hello ZED/c/main.c @@ -40,7 +40,7 @@ int main(int argc, char **argv) { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; diff --git a/tutorials/tutorial 2 - image capture/c/CMakeLists.txt b/tutorials/tutorial 2 - image capture/c/CMakeLists.txt index 5e2ad195..efc5e91a 100644 --- a/tutorials/tutorial 2 - image capture/c/CMakeLists.txt +++ b/tutorials/tutorial 2 - image capture/c/CMakeLists.txt @@ -7,10 +7,14 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") @@ -19,4 +23,4 @@ endif(WIN32) ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) diff --git a/tutorials/tutorial 2 - image capture/c/main.c b/tutorials/tutorial 2 - image capture/c/main.c index ddf59505..26d6ed12 100644 --- a/tutorials/tutorial 2 - image capture/c/main.c +++ b/tutorials/tutorial 2 - image capture/c/main.c @@ -40,7 +40,7 @@ int main(int argc, char **argv) { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; @@ -64,6 +64,7 @@ int main(int argc, char **argv) { rt_param.reference_frame = SL_REFERENCE_FRAME_CAMERA; rt_param.sensing_mode = SL_SENSING_MODE_STANDARD; rt_param.texture_confidence_threshold = 100; + rt_param.remove_saturated_areas = true; int width = sl_get_width(camera_id); int height = sl_get_height(camera_id); diff --git a/tutorials/tutorial 3 - depth sensing/c/CMakeLists.txt b/tutorials/tutorial 3 - depth sensing/c/CMakeLists.txt index efe30c1d..50ca9185 100644 --- a/tutorials/tutorial 3 - depth sensing/c/CMakeLists.txt +++ b/tutorials/tutorial 3 - depth sensing/c/CMakeLists.txt @@ -7,10 +7,14 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") @@ -19,4 +23,4 @@ endif(WIN32) ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) diff --git a/tutorials/tutorial 3 - depth sensing/c/main.c b/tutorials/tutorial 3 - depth sensing/c/main.c index ce3d2154..84deb918 100644 --- a/tutorials/tutorial 3 - depth sensing/c/main.c +++ b/tutorials/tutorial 3 - depth sensing/c/main.c @@ -40,7 +40,7 @@ int main(int argc, char **argv) { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; @@ -64,6 +64,7 @@ int main(int argc, char **argv) { rt_param.reference_frame = SL_REFERENCE_FRAME_CAMERA; rt_param.sensing_mode = SL_SENSING_MODE_STANDARD; rt_param.texture_confidence_threshold = 100; + rt_param.remove_saturated_areas = true; int width = sl_get_width(camera_id); int height = sl_get_height(camera_id); diff --git a/tutorials/tutorial 4 - positional tracking/c/CMakeLists.txt b/tutorials/tutorial 4 - positional tracking/c/CMakeLists.txt index e5151e5e..0ab6b950 100644 --- a/tutorials/tutorial 4 - positional tracking/c/CMakeLists.txt +++ b/tutorials/tutorial 4 - positional tracking/c/CMakeLists.txt @@ -7,15 +7,20 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") endif(WIN32) + ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) \ No newline at end of file +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) \ No newline at end of file diff --git a/tutorials/tutorial 4 - positional tracking/c/main.c b/tutorials/tutorial 4 - positional tracking/c/main.c index 2e880505..2f3af633 100644 --- a/tutorials/tutorial 4 - positional tracking/c/main.c +++ b/tutorials/tutorial 4 - positional tracking/c/main.c @@ -40,7 +40,7 @@ int main(int argc, char **argv) { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; @@ -63,6 +63,7 @@ int main(int argc, char **argv) { tracking_param.enable_area_memory = true; tracking_param.enable_imu_fusion = true; tracking_param.enable_pose_smothing = false; + tracking_param.depth_min_range = -1; struct SL_Vector3 position; position = (struct SL_Vector3) { .x = 0, .y = 0, .z = 0 }; @@ -86,6 +87,7 @@ int main(int argc, char **argv) { rt_param.reference_frame = SL_REFERENCE_FRAME_CAMERA; rt_param.sensing_mode = SL_SENSING_MODE_STANDARD; rt_param.texture_confidence_threshold = 100; + rt_param.remove_saturated_areas = true; int width = sl_get_width(camera_id); int height = sl_get_height(camera_id); diff --git a/tutorials/tutorial 5 - spatial mapping/c/CMakeLists.txt b/tutorials/tutorial 5 - spatial mapping/c/CMakeLists.txt index a7c56afb..2baecfac 100644 --- a/tutorials/tutorial 5 - spatial mapping/c/CMakeLists.txt +++ b/tutorials/tutorial 5 - spatial mapping/c/CMakeLists.txt @@ -7,15 +7,20 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") endif(WIN32) + ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) diff --git a/tutorials/tutorial 5 - spatial mapping/c/main.c b/tutorials/tutorial 5 - spatial mapping/c/main.c index e4596eef..a278c00e 100644 --- a/tutorials/tutorial 5 - spatial mapping/c/main.c +++ b/tutorials/tutorial 5 - spatial mapping/c/main.c @@ -40,7 +40,7 @@ int main() { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; @@ -63,6 +63,7 @@ int main() { tracking_param.enable_area_memory = true; tracking_param.enable_imu_fusion = true; tracking_param.enable_pose_smothing = false; + tracking_param.depth_min_range = -1; struct SL_Vector3 position; position = (struct SL_Vector3) { .x = 0, .y = 0, .z = 0 }; @@ -97,6 +98,7 @@ int main() { rt_param.reference_frame = SL_REFERENCE_FRAME_CAMERA; rt_param.sensing_mode = SL_SENSING_MODE_STANDARD; rt_param.texture_confidence_threshold = 100; + rt_param.remove_saturated_areas = true; int width = sl_get_width(camera_id); int height = sl_get_height(camera_id); diff --git a/tutorials/tutorial 6 - object detection/c/CMakeLists.txt b/tutorials/tutorial 6 - object detection/c/CMakeLists.txt index 799bc9a1..0fb54155 100644 --- a/tutorials/tutorial 6 - object detection/c/CMakeLists.txt +++ b/tutorials/tutorial 6 - object detection/c/CMakeLists.txt @@ -7,15 +7,20 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") endif(WIN32) + ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) \ No newline at end of file diff --git a/tutorials/tutorial 6 - object detection/c/main.c b/tutorials/tutorial 6 - object detection/c/main.c index 360592e8..2a4b52fd 100644 --- a/tutorials/tutorial 6 - object detection/c/main.c +++ b/tutorials/tutorial 6 - object detection/c/main.c @@ -40,7 +40,7 @@ int main(int argc, char **argv) { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; @@ -63,6 +63,7 @@ int main(int argc, char **argv) { tracking_param.enable_area_memory = true; tracking_param.enable_imu_fusion = true; tracking_param.enable_pose_smothing = false; + tracking_param.depth_min_range = -1; struct SL_Vector3 position; position = (struct SL_Vector3) { .x = 0, .y = 0, .z = 0 }; @@ -95,6 +96,7 @@ int main(int argc, char **argv) { rt_param.reference_frame = SL_REFERENCE_FRAME_CAMERA; rt_param.sensing_mode = SL_SENSING_MODE_STANDARD; rt_param.texture_confidence_threshold = 100; + rt_param.remove_saturated_areas = true; struct SL_Objects objects; diff --git a/tutorials/tutorial 7 - sensor data/c/CMakeLists.txt b/tutorials/tutorial 7 - sensor data/c/CMakeLists.txt index b8a0e5e4..abf1cf26 100644 --- a/tutorials/tutorial 7 - sensor data/c/CMakeLists.txt +++ b/tutorials/tutorial 7 - sensor data/c/CMakeLists.txt @@ -7,15 +7,20 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") endif(WIN32) + ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) \ No newline at end of file +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) \ No newline at end of file diff --git a/tutorials/tutorial 7 - sensor data/c/main.c b/tutorials/tutorial 7 - sensor data/c/main.c index 74934f26..20d21a18 100644 --- a/tutorials/tutorial 7 - sensor data/c/main.c +++ b/tutorials/tutorial 7 - sensor data/c/main.c @@ -53,7 +53,7 @@ int main(int argc, char **argv) { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; diff --git a/tutorials/tutorial 8 - body tracking/c/CMakeLists.txt b/tutorials/tutorial 8 - body tracking/c/CMakeLists.txt index 84aeb249..da83a79b 100644 --- a/tutorials/tutorial 8 - body tracking/c/CMakeLists.txt +++ b/tutorials/tutorial 8 - body tracking/c/CMakeLists.txt @@ -7,15 +7,20 @@ if(COMMAND cmake_policy) endif(COMMAND cmake_policy) SET(EXECUTABLE_OUTPUT_PATH ".") +find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED) +include_directories(${CUDA_INCLUDE_DIRS}) +link_directories(${CUDA_LIBRARY_DIRS}) if (WIN32) include_directories($ENV{ZED_SDK_ROOT_DIR}/include/) link_directories($ENV{ZED_SDK_ROOT_DIR}/lib/) + else (WIN32) include_directories("/usr/local/zed/include/") link_directories("/usr/local/zed/lib/") endif(WIN32) + ADD_EXECUTABLE(${PROJECT_NAME} main.c) -target_link_libraries(${PROJECT_NAME} sl_zed_c) +target_link_libraries(${PROJECT_NAME} sl_zed_c ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY}) diff --git a/tutorials/tutorial 8 - body tracking/c/main.c b/tutorials/tutorial 8 - body tracking/c/main.c index 51146532..0db8b106 100644 --- a/tutorials/tutorial 8 - body tracking/c/main.c +++ b/tutorials/tutorial 8 - body tracking/c/main.c @@ -40,7 +40,7 @@ int main(int argc, char **argv) { init_param.enable_image_enhancement = true; init_param.svo_real_time_mode = true; init_param.depth_mode = SL_DEPTH_MODE_PERFORMANCE; - init_param.depth_stabilization = true; + init_param.depth_stabilization = 1; init_param.depth_maximum_distance = 40; init_param.depth_minimum_distance = -1; init_param.coordinate_unit = SL_UNIT_METER; @@ -63,6 +63,7 @@ int main(int argc, char **argv) { tracking_param.enable_area_memory = true; tracking_param.enable_imu_fusion = true; tracking_param.enable_pose_smothing = false; + tracking_param.depth_min_range = -1; struct SL_Vector3 position; position = (struct SL_Vector3) { .x = 0, .y = 0, .z = 0 }; @@ -103,6 +104,7 @@ int main(int argc, char **argv) { rt_param.reference_frame = SL_REFERENCE_FRAME_CAMERA; rt_param.sensing_mode = SL_SENSING_MODE_STANDARD; rt_param.texture_confidence_threshold = 100; + rt_param.remove_saturated_areas = true; struct SL_Objects objects; diff --git a/tutorials/tutorial 8 - body tracking/cpp/main.cpp b/tutorials/tutorial 8 - body tracking/cpp/main.cpp index cacd575f..50adade9 100644 --- a/tutorials/tutorial 8 - body tracking/cpp/main.cpp +++ b/tutorials/tutorial 8 - body tracking/cpp/main.cpp @@ -34,67 +34,6 @@ using namespace std; using namespace sl; -std::string printBodyParts(BODY_PARTS part) { - std::string out; - switch (part) { - case BODY_PARTS::NOSE: - out = "Nose"; - break; - case BODY_PARTS::NECK: - out = "Neck"; - break; - case BODY_PARTS::RIGHT_SHOULDER: - out = "R Shoulder"; - break; - case BODY_PARTS::RIGHT_ELBOW: - out = "R Elbow"; - break; - case BODY_PARTS::RIGHT_WRIST: - out = "R Wrist"; - break; - case BODY_PARTS::LEFT_SHOULDER: - out = "L Shoulder"; - break; - case BODY_PARTS::LEFT_ELBOW: - out = "L Elbow"; - break; - case BODY_PARTS::LEFT_WRIST: - out = "L Wrist"; - break; - case BODY_PARTS::RIGHT_HIP: - out = "R Hip"; - break; - case BODY_PARTS::RIGHT_KNEE: - out = "R Knee"; - break; - case BODY_PARTS::RIGHT_ANKLE: - out = "R Ankle"; - break; - case BODY_PARTS::LEFT_HIP: - out = "L Hip"; - break; - case BODY_PARTS::LEFT_KNEE: - out = "L Knee"; - break; - case BODY_PARTS::LEFT_ANKLE: - out = "L Ankle"; - break; - case BODY_PARTS::RIGHT_EYE: - out = "R Eye"; - break; - case BODY_PARTS::LEFT_EYE: - out = "L Eye"; - break; - case BODY_PARTS::RIGHT_EAR: - out = "R Ear"; - break; - case BODY_PARTS::LEFT_EAR: - out = "L Ear"; - break; - } - return out; -} - int main(int argc, char** argv) { // Create ZED objects Camera zed; @@ -171,14 +110,14 @@ int main(int argc, char** argv) { // to get the BODY_PARTS index the getIdx function is available for (int i = 0; i < first_object.keypoint_2d.size(); i++) { auto &kp = first_object.keypoint_2d[i]; - cout << " " << printBodyParts((BODY_PARTS) i) << " " << kp.x << ", " << kp.y << "\n"; + cout << " " << ((BODY_PARTS) i) << " " << kp.x << ", " << kp.y << "\n"; } // The BODY_PARTS can be link as bones, using sl::BODY_BONES which gives the BODY_PARTS pair for each cout << " Keypoints 3D \n"; for (int i = 0; i < first_object.keypoint.size(); i++) { auto &kp = first_object.keypoint[i]; - cout << " " << printBodyParts((BODY_PARTS) i) << " " << kp.x << ", " << kp.y << ", " << kp.z << "\n"; + cout << " " << ((BODY_PARTS) i) << " " << kp.x << ", " << kp.y << ", " << kp.z << "\n"; } cout << "\nPress 'Enter' to continue...\n";

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