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* adding 4.2 samples * Fixing #645 yolo python color conversion
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| 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_; | ||
| } | ||
| } | ||
| } |
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