1+ //======= Copyright (c) Stereolabs Corporation, All rights reserved. ===============
2+ using System ;
3+ using System . Numerics ;
4+ using System . Runtime . InteropServices ;
5+ using System . Threading . Tasks ;
6+ using OpenCvSharp ;
7+
8+ namespace sl
9+ {
10+ public class Utils
11+ {
12+ /// <summary>
13+ /// Creates an OpenCV version of a ZED Mat.
14+ /// </summary>
15+ /// <param name="zedmat">Source ZED Mat.</param>
16+ /// <param name="zedmattype">Type of ZED Mat - data type and channel number.
17+ /// <returns></returns>
18+ public static OpenCvSharp . Mat SLMat2CVMat ( ref sl . Mat zedmat , MAT_TYPE zedmattype )
19+ {
20+ int cvmattype = SLMatType2CVMatType ( zedmattype ) ;
21+ OpenCvSharp . Mat cvmat = new OpenCvSharp . Mat ( zedmat . GetHeight ( ) , zedmat . GetWidth ( ) , cvmattype , zedmat . GetPtr ( ) ) ;
22+
23+ return cvmat ;
24+ }
25+
26+ /// <summary>
27+ /// Returns the OpenCV type that corresponds to a given ZED Mat type.
28+ /// </summary>
29+ private static int SLMatType2CVMatType ( MAT_TYPE zedmattype )
30+ {
31+ switch ( zedmattype )
32+ {
33+ case sl . MAT_TYPE . MAT_32F_C1 :
34+ return OpenCvSharp . MatType . CV_32FC1 ;
35+ case sl . MAT_TYPE . MAT_32F_C2 :
36+ return OpenCvSharp . MatType . CV_32FC2 ;
37+ case sl . MAT_TYPE . MAT_32F_C3 :
38+ return OpenCvSharp . MatType . CV_32FC3 ;
39+ case sl . MAT_TYPE . MAT_32F_C4 :
40+ return OpenCvSharp . MatType . CV_32FC4 ;
41+ case sl . MAT_TYPE . MAT_8U_C1 :
42+ return OpenCvSharp . MatType . CV_8UC1 ;
43+ case sl . MAT_TYPE . MAT_8U_C2 :
44+ return OpenCvSharp . MatType . CV_8UC2 ;
45+ case sl . MAT_TYPE . MAT_8U_C3 :
46+ return OpenCvSharp . MatType . CV_8UC3 ;
47+ case sl . MAT_TYPE . MAT_8U_C4 :
48+ return OpenCvSharp . MatType . CV_8UC4 ;
49+ default :
50+ return - 1 ;
51+ }
52+ }
53+
54+ public static ulong getMilliseconds ( ulong ts_ns )
55+ {
56+ return ts_ns / 1000000 ;
57+ }
58+
59+ public static void drawVerticalLine ( ref OpenCvSharp . Mat left_display , Point start_pt , Point end_pt , Scalar clr , int thickness )
60+ {
61+ int n_steps = 7 ;
62+ Point pt1 , pt4 ;
63+ pt1 . X = ( ( n_steps - 1 ) * start_pt . X + end_pt . X ) / n_steps ;
64+ pt1 . Y = ( ( n_steps - 1 ) * start_pt . Y + end_pt . Y ) / n_steps ;
65+
66+ pt4 . X = ( start_pt . X + ( n_steps - 1 ) * end_pt . X ) / n_steps ;
67+ pt4 . Y = ( start_pt . Y + ( n_steps - 1 ) * end_pt . Y ) / n_steps ;
68+
69+ Cv2 . Line ( left_display , start_pt , pt1 , clr , thickness ) ;
70+ Cv2 . Line ( left_display , pt4 , end_pt , clr , thickness ) ;
71+ }
72+
73+ public static Point cvt ( Vector2 pt , sl . float2 scale )
74+ {
75+ return new Point ( pt . X * scale . x , pt . Y * scale . y ) ;
76+ }
77+
78+ public static sl . float4 generateColorID ( int idx )
79+ {
80+ int offset = Math . Max ( 0 , idx % 5 ) ;
81+ sl . float4 color = new float4 ( ) ;
82+ color . x = id_colors [ offset , 0 ] ;
83+ color . y = id_colors [ offset , 1 ] ;
84+ color . z = id_colors [ offset , 2 ] ;
85+ color . w = 1.0f ;
86+ return color ;
87+ }
88+
89+ public static OpenCvSharp . Scalar generateColorID_u ( int idx )
90+ {
91+ int offset = Math . Max ( 0 , idx % 5 ) ;
92+ OpenCvSharp . Scalar color = new OpenCvSharp . Scalar ( ) ;
93+ color [ 0 ] = id_colors [ offset , 2 ] * 255 ;
94+ color [ 1 ] = id_colors [ offset , 1 ] * 255 ;
95+ color [ 2 ] = id_colors [ offset , 0 ] * 255 ;
96+ color [ 3 ] = 1.0f * 255 ;
97+ return color ;
98+ }
99+
100+ public static float [ , ] id_colors = new float [ 5 , 3 ] {
101+
102+ { .231f , .909f , .69f } ,
103+ { .098f , .686f , .816f } ,
104+ { .412f , .4f , .804f } ,
105+ { 1 , .725f , .0f } ,
106+ { .989f , .388f , .419f }
107+ } ;
108+
109+ public static float [ , ] class_colors = new float [ 6 , 3 ] {
110+ { 44.0f , 117.0f , 255.0f } , // PEOPLE
111+ { 255.0f , 0.0f , 255.0f } , // VEHICLE
112+ { 0.0f , 0.0f , 255.0f } ,
113+ { 0.0f , 255.0f , 255.0f } ,
114+ { 0.0f , 255.0f , 0.0f } ,
115+ { 255.0f , 255.0f , 255.0f }
116+ } ;
117+
118+ public static float4 generateColorClass ( int idx )
119+ {
120+ idx = Math . Min ( 5 , idx ) ;
121+ sl . float4 color = new float4 ( ) ;
122+ color . x = class_colors [ idx , 0 ] ;
123+ color . y = class_colors [ idx , 1 ] ;
124+ color . z = class_colors [ idx , 2 ] ;
125+ color . w = 255.0f ;
126+ return color ;
127+ }
128+
129+ public static OpenCvSharp . Scalar generateColorClass_u ( int idx )
130+ {
131+ idx = Math . Min ( 5 , idx ) ;
132+ OpenCvSharp . Scalar color = new OpenCvSharp . Scalar ( ) ;
133+ color [ 0 ] = class_colors [ idx , 0 ] ;
134+ color [ 0 ] = class_colors [ idx , 1 ] ;
135+ color [ 0 ] = class_colors [ idx , 2 ] ;
136+ color [ 0 ] = 255.0f ;
137+ return color ;
138+ }
139+
140+ public static bool renderObject ( ObjectData i , bool showOnlyOK )
141+ {
142+ if ( showOnlyOK )
143+ return ( i . objectTrackingState == sl . OBJECT_TRACKING_STATE . OK ) ;
144+ else
145+ return ( i . objectTrackingState == sl . OBJECT_TRACKING_STATE . OK || i . objectTrackingState == sl . OBJECT_TRACKING_STATE . OFF ) ;
146+ }
147+
148+
149+ public static byte _applyFading ( double val , float current_alpha , double current_clr )
150+ {
151+ return ( byte ) ( current_alpha * current_clr + ( 1.0 - current_alpha ) * val ) ;
152+ }
153+
154+ public static Vec4b applyFading ( Scalar val , float current_alpha , Scalar current_clr ) {
155+ Vec4b out_ = new Vec4b ( ) ;
156+ out_ [ 0 ] = _applyFading ( val [ 0 ] , current_alpha , current_clr [ 0 ] ) ;
157+ out_ [ 1 ] = _applyFading ( val [ 1 ] , current_alpha , current_clr [ 1 ] ) ;
158+ out_ [ 2 ] = _applyFading ( val [ 2 ] , current_alpha , current_clr [ 2 ] ) ;
159+ out_ [ 3 ] = 255 ;
160+ return out_ ;
161+ }
162+ }
163+ }
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