-
Notifications
You must be signed in to change notification settings - Fork 469
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
* adding 4.2 samples * Fixing #645 yolo python color conversion
- Loading branch information
Showing
162 changed files
with
16,998 additions
and
6,770 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,163 @@ | ||
| //======= Copyright (c) Stereolabs Corporation, All rights reserved. =============== | ||
| using System; | ||
| using System.Numerics; | ||
| using System.Runtime.InteropServices; | ||
| using System.Threading.Tasks; | ||
| using OpenCvSharp; | ||
|
|
||
| namespace sl | ||
| { | ||
| public class Utils | ||
| { | ||
| /// <summary> | ||
| /// Creates an OpenCV version of a ZED Mat. | ||
| /// </summary> | ||
| /// <param name="zedmat">Source ZED Mat.</param> | ||
| /// <param name="zedmattype">Type of ZED Mat - data type and channel number. | ||
| /// <returns></returns> | ||
| public static OpenCvSharp.Mat SLMat2CVMat(ref sl.Mat zedmat, MAT_TYPE zedmattype) | ||
| { | ||
| int cvmattype = SLMatType2CVMatType(zedmattype); | ||
| OpenCvSharp.Mat cvmat = new OpenCvSharp.Mat(zedmat.GetHeight(), zedmat.GetWidth(), cvmattype, zedmat.GetPtr()); | ||
|
|
||
| return cvmat; | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Returns the OpenCV type that corresponds to a given ZED Mat type. | ||
| /// </summary> | ||
| private static int SLMatType2CVMatType(MAT_TYPE zedmattype) | ||
| { | ||
| switch (zedmattype) | ||
| { | ||
| case sl.MAT_TYPE.MAT_32F_C1: | ||
| return OpenCvSharp.MatType.CV_32FC1; | ||
| case sl.MAT_TYPE.MAT_32F_C2: | ||
| return OpenCvSharp.MatType.CV_32FC2; | ||
| case sl.MAT_TYPE.MAT_32F_C3: | ||
| return OpenCvSharp.MatType.CV_32FC3; | ||
| case sl.MAT_TYPE.MAT_32F_C4: | ||
| return OpenCvSharp.MatType.CV_32FC4; | ||
| case sl.MAT_TYPE.MAT_8U_C1: | ||
| return OpenCvSharp.MatType.CV_8UC1; | ||
| case sl.MAT_TYPE.MAT_8U_C2: | ||
| return OpenCvSharp.MatType.CV_8UC2; | ||
| case sl.MAT_TYPE.MAT_8U_C3: | ||
| return OpenCvSharp.MatType.CV_8UC3; | ||
| case sl.MAT_TYPE.MAT_8U_C4: | ||
| return OpenCvSharp.MatType.CV_8UC4; | ||
| default: | ||
| return -1; | ||
| } | ||
| } | ||
|
|
||
| public static ulong getMilliseconds(ulong ts_ns) | ||
| { | ||
| return ts_ns / 1000000; | ||
| } | ||
|
|
||
| public static void drawVerticalLine(ref OpenCvSharp.Mat left_display, Point start_pt, Point end_pt, Scalar clr, int thickness) | ||
| { | ||
| int n_steps = 7; | ||
| Point pt1, pt4; | ||
| pt1.X = ((n_steps - 1) * start_pt.X + end_pt.X) / n_steps; | ||
| pt1.Y = ((n_steps - 1) * start_pt.Y + end_pt.Y) / n_steps; | ||
|
|
||
| pt4.X = (start_pt.X + (n_steps - 1) * end_pt.X) / n_steps; | ||
| pt4.Y = (start_pt.Y + (n_steps - 1) * end_pt.Y) / n_steps; | ||
|
|
||
| Cv2.Line(left_display, start_pt, pt1, clr, thickness); | ||
| Cv2.Line(left_display, pt4, end_pt, clr, thickness); | ||
| } | ||
|
|
||
| public static Point cvt(Vector2 pt, sl.float2 scale) | ||
| { | ||
| return new Point(pt.X * scale.x, pt.Y * scale.y); | ||
| } | ||
|
|
||
| public static sl.float4 generateColorID(int idx) | ||
| { | ||
| int offset = Math.Max(0, idx % 5); | ||
| sl.float4 color = new float4(); | ||
| color.x = id_colors[offset, 0]; | ||
| color.y = id_colors[offset, 1]; | ||
| color.z = id_colors[offset, 2]; | ||
| color.w = 1.0f; | ||
| return color; | ||
| } | ||
|
|
||
| public static OpenCvSharp.Scalar generateColorID_u(int idx) | ||
| { | ||
| int offset = Math.Max(0, idx % 5); | ||
| OpenCvSharp.Scalar color = new OpenCvSharp.Scalar(); | ||
| color[0] = id_colors[offset, 2] * 255; | ||
| color[1] = id_colors[offset, 1] * 255; | ||
| color[2] = id_colors[offset, 0] * 255; | ||
| color[3] = 1.0f * 255; | ||
| return color; | ||
| } | ||
|
|
||
| public static float[,] id_colors = new float[5, 3]{ | ||
|
|
||
| {.231f, .909f, .69f}, | ||
| {.098f, .686f, .816f}, | ||
| {.412f, .4f, .804f}, | ||
| {1, .725f, .0f}, | ||
| {.989f, .388f, .419f} | ||
| }; | ||
|
|
||
| public static float[,] class_colors = new float[6, 3]{ | ||
| { 44.0f, 117.0f, 255.0f}, // PEOPLE | ||
| { 255.0f, 0.0f, 255.0f}, // VEHICLE | ||
| { 0.0f, 0.0f, 255.0f}, | ||
| { 0.0f, 255.0f, 255.0f}, | ||
| { 0.0f, 255.0f, 0.0f}, | ||
| { 255.0f, 255.0f, 255.0f} | ||
| }; | ||
|
|
||
| public static float4 generateColorClass(int idx) | ||
| { | ||
| idx = Math.Min(5, idx); | ||
| sl.float4 color = new float4(); | ||
| color.x = class_colors[idx, 0]; | ||
| color.y = class_colors[idx, 1]; | ||
| color.z = class_colors[idx, 2]; | ||
| color.w = 255.0f; | ||
| return color; | ||
| } | ||
|
|
||
| public static OpenCvSharp.Scalar generateColorClass_u(int idx) | ||
| { | ||
| idx = Math.Min(5, idx); | ||
| OpenCvSharp.Scalar color = new OpenCvSharp.Scalar(); | ||
| color[0] = class_colors[idx, 0]; | ||
| color[0] = class_colors[idx, 1]; | ||
| color[0] = class_colors[idx, 2]; | ||
| color[0] = 255.0f; | ||
| return color; | ||
| } | ||
|
|
||
| public static bool renderObject(ObjectData i, bool showOnlyOK) | ||
| { | ||
| if (showOnlyOK) | ||
| return (i.objectTrackingState == sl.OBJECT_TRACKING_STATE.OK); | ||
| else | ||
| return (i.objectTrackingState == sl.OBJECT_TRACKING_STATE.OK || i.objectTrackingState == sl.OBJECT_TRACKING_STATE.OFF); | ||
| } | ||
|
|
||
|
|
||
| public static byte _applyFading(double val, float current_alpha, double current_clr) | ||
| { | ||
| return (byte)(current_alpha * current_clr + (1.0 - current_alpha) * val); | ||
| } | ||
|
|
||
| public static Vec4b applyFading(Scalar val, float current_alpha, Scalar current_clr){ | ||
| Vec4b out_ = new Vec4b(); | ||
| out_[0] = _applyFading(val[0], current_alpha, current_clr[0]); | ||
| out_[1] = _applyFading(val[1], current_alpha, current_clr[1]); | ||
| out_[2] = _applyFading(val[2], current_alpha, current_clr[2]); | ||
| out_[3] = 255; | ||
| return out_; | ||
| } | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.