update for ZED SDK 4.1.2

stereolabs · May 27, 2024 · b30caa9 · b30caa9
1 parent 92210d0
commit b30caa9
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Showing 7 changed files with 17 additions and 19 deletions.
diff --git a/body tracking/multi-camera/cpp/src/ClientPublisher.cpp b/body tracking/multi-camera/cpp/src/ClientPublisher.cpp
@@ -17,8 +17,6 @@ bool ClientPublisher::open(sl::InputType input) {
     sl::InitParameters init_parameters;
     init_parameters.depth_mode = sl::DEPTH_MODE::ULTRA;
     init_parameters.input = input;
-    if (input.getType() == sl::InputType::INPUT_TYPE::SVO_FILE)
-        init_parameters.svo_real_time_mode = true;
     init_parameters.coordinate_units = sl::UNIT::METER;
     init_parameters.coordinate_system = sl::COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP;
     auto state = zed.open(init_parameters);
@@ -94,11 +92,11 @@ void ClientPublisher::work()
             // just be sure to run the bodies detection
             zed.retrieveBodies(bodies, body_runtime_parameters);
         }
+        sl::sleep_ms(2);
     }
 }
 
 void ClientPublisher::setStartSVOPosition(unsigned pos) {
     zed.setSVOPosition(pos);
-    zed.grab();
 }
 
diff --git a/body tracking/multi-camera/cpp/src/main.cpp b/body tracking/multi-camera/cpp/src/main.cpp
@@ -150,9 +150,6 @@ int main(int argc, char **argv) {
     std::map<sl::CameraIdentifier, sl::Mat> pointClouds;
     sl::Resolution low_res(512,360);
 
-    bool new_data = false;
-    sl::Timestamp ts_new_data = sl::Timestamp(0);
-
     // run the fusion as long as the viewer is available.
     while (viewer.isAvailable()) {
         // run the fusion process (which gather data from all camera, sync them and process them)
@@ -177,7 +174,8 @@ int main(int argc, char **argv) {
         }
         // update the 3D view
         viewer.updateBodies(fused_bodies, camera_raw_data, metrics);
-        std::this_thread::sleep_for(std::chrono::microseconds(10));
+
+        sl::sleep_ms(10);
     }
 
     viewer.exit();

diff --git a/global localization/live/python/display/gl_viewer.py b/global localization/live/python/display/gl_viewer.py
@@ -414,7 +414,7 @@ def print_text(self):
         start_w = 20
         start_h = h_wnd - 40
 
-        if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK):
+        if(self.trackState != sl.POSITIONAL_TRACKING_FUSION_STATUS.UNAVAILABLE):
             glColor3f(0.2, 0.65, 0.2)
         else:
             glColor3f(0.85, 0.2, 0.2)

diff --git a/global localization/playback/python/display/generic_display.py b/global localization/playback/python/display/generic_display.py
@@ -10,13 +10,13 @@ def __init__(self):
     def __del__(self):
         closeAllKMLFiles()
 
-    def init(self,camera_model):
+    def init(self, camera_model):
         self.glviewer = GLViewer()
         self.glviewer.init(camera_model)
         # Replace this part with the appropriate connection to your IoT system
 
-    def updatePoseData(self, zed_rt,str_t,str_r, state):
-        self.glviewer.updateData(zed_rt,str_t,str_r, state)
+    def updatePoseData(self, zed_rt, str_t, str_r, state):
+        self.glviewer.updateData(zed_rt, str_t, str_r, state)
 
     def isAvailable(self):
         return self.glviewer.is_available()
@@ -41,10 +41,8 @@ def updateGeoPoseData(self, geo_pose, current_timestamp):
                             current_timestamp.get_milliseconds()))
 
             gnss_data = {}
-            gnss_data["longitude"] = geo_pose.latlng_coordinates.get_latitude(
-                False)
-            gnss_data["latitude"] = geo_pose.latlng_coordinates.get_latitude(
-                False)
+            gnss_data["longitude"] = geo_pose.latlng_coordinates.get_latitude(False)
+            gnss_data["latitude"] = geo_pose.latlng_coordinates.get_latitude(False)
             gnss_data["altitude"] = geo_pose.latlng_coordinates.get_altitude()
             saveKMLData("fused_position.kml", gnss_data)
 
@@ -58,7 +56,7 @@ def updateGeoPoseData(self, geo_pose, current_timestamp):
 
     try:
         while True:
-            # Votre logique ici...
+            # Your logic here...
             pass
     except KeyboardInterrupt:
         pass
diff --git a/global localization/playback/python/display/gl_viewer.py b/global localization/playback/python/display/gl_viewer.py
@@ -414,7 +414,11 @@ def print_text(self):
         start_w = 20
         start_h = h_wnd - 40
 
-        glColor3f(0.2, 0.65, 0.2)
+        if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK):
+            glColor3f(0.2, 0.65, 0.2)
+        else:
+            glColor3f(0.85, 0.2, 0.2)
+
         glRasterPos2i(start_w, start_h)
 
         safe_glutBitmapString(GLUT_BITMAP_HELVETICA_18,  "POSITIONAL TRACKING : " + str(self.trackState))

diff --git a/global localization/recording/python/display/gl_viewer.py b/global localization/recording/python/display/gl_viewer.py
@@ -414,7 +414,7 @@ def print_text(self):
         start_w = 20
         start_h = h_wnd - 40
 
-        if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK):
+        if(self.trackState != sl.POSITIONAL_TRACKING_FUSION_STATUS.UNAVAILABLE):
             glColor3f(0.2, 0.65, 0.2)
         else:
             glColor3f(0.85, 0.2, 0.2)

diff --git a/global localization/recording/python/ogl_viewer/tracking_viewer.py b/global localization/recording/python/ogl_viewer/tracking_viewer.py
@@ -414,7 +414,7 @@ def print_text(self):
         start_w = 20
         start_h = h_wnd - 40
 
-        if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK):
+        if(self.trackState != sl.POSITIONAL_TRACKING_FUSION_STATUS.UNAVAILABLE):
             glColor3f(0.2, 0.65, 0.2)
         else:
             glColor3f(0.85, 0.2, 0.2)