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Merge pull request #37 from stereolabs/v4.1
Update to SDK 4.1
2 parents e5fa2e1 + da92944 commit 15fdfcc

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-134
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12 files changed

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‎Content/ZED/Levels/L_PointCloud.umap

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‎Plugins/Stereolabs/Source/Stereolabs/Private/Core/StereolabsCameraProxy.cpp

Lines changed: 90 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -245,7 +245,7 @@ void USlCameraProxy::Internal_OpenCamera(const FSlInitParameters& InitParameters
245245
sl_init_parameters.camera_disable_self_calib = InitParameters.bDisableSelfCalibration;
246246
sl_init_parameters.camera_fps = InitParameters.FPS;
247247
sl_init_parameters.camera_image_flip = (SL_FLIP_MODE)InitParameters.VerticalFlipImage;
248-
sl_init_parameters.resolution = (SL_RESOLUTION)InitParameters.Resolution;
248+
sl_init_parameters.resolution = sl::unreal::ToSlType2(InitParameters.Resolution);
249249
sl_init_parameters.coordinate_system = SL_COORDINATE_SYSTEM_LEFT_HANDED_Z_UP;
250250
sl_init_parameters.coordinate_unit = SL_UNIT_CENTIMETER;
251251
sl_init_parameters.depth_minimum_distance = InitParameters.DepthMinimumDistance;
@@ -570,25 +570,47 @@ ESlTrackingState USlCameraProxy::GetPosition(FSlPose& Pose, ESlReferenceFrame Re
570570
SL_SCOPE_UNLOCK
571571
}
572572

573-
ESlErrorCode USlCameraProxy::SetRegionOfInterest(FSlMat& Mat)
573+
ESlErrorCode USlCameraProxy::SetRegionOfInterest(FSlMat& Mat, TSet<ESlModule> module)
574574
{
575-
SL_ERROR_CODE err = (SL_ERROR_CODE)sl_set_region_of_interest(CameraID, Mat.Mat);
575+
TArray<bool> modules_array;
576+
modules_array.Init(false, SL_MODULE_LAST);
577+
578+
for (int i = 0; i < SL_MODULE_ALL; i++)
579+
{
580+
if (module.Contains((ESlModule)i))
581+
{
582+
modules_array[i] = true;
583+
}
584+
}
585+
586+
SL_ERROR_CODE err = (SL_ERROR_CODE)sl_set_region_of_interest(CameraID, Mat.Mat, modules_array.GetData());
576587
return sl::unreal::ToUnrealType(err);
577588
}
578589

579-
ESlErrorCode USlCameraProxy::GetRegionOfInterest(FSlMat& Mat, FIntPoint& resolution)
590+
ESlErrorCode USlCameraProxy::GetRegionOfInterest(FSlMat& Mat, FIntPoint& resolution, ESlModule module)
580591
{
581592
if (!Mat.Mat) {
582593
Mat.Mat = sl_mat_create_new(resolution.X, resolution.Y, SL_MAT_TYPE_U8_C1, SL_MEM_CPU);
583594
}
584-
SL_ERROR_CODE err = (SL_ERROR_CODE)sl_get_region_of_interest(CameraID, Mat.Mat, resolution.X, resolution.Y);
595+
SL_ERROR_CODE err = (SL_ERROR_CODE)sl_get_region_of_interest(CameraID, Mat.Mat, resolution.X, resolution.Y, (SL_MODULE)module);
585596
return sl::unreal::ToUnrealType(err);
586597
}
587598

588599
ESlErrorCode USlCameraProxy::StartRegionOfInterestAutoDetection(FSlRegionOfInterestParameters& roiParams)
589600
{
590601
SL_RegionOfInterestParameters params;
591-
params.auto_apply = roiParams.bAutoApply;
602+
603+
TArray<bool> modules_array;
604+
modules_array.Init(false, SL_MODULE_LAST);
605+
606+
for (int i = 0; i < SL_MODULE_ALL; i++)
607+
{
608+
if (roiParams.autoApplyModule.Contains((ESlModule)i))
609+
{
610+
params.auto_apply_module[i] = true;
611+
}
612+
}
613+
592614
params.depth_far_threshold_meters = roiParams.depthFarThresholdMeters;
593615
params.image_height_ratio_cutoff = roiParams.imageHeightRatioCutoff;
594616

@@ -726,6 +748,11 @@ SL_POSITIONAL_TRACKING_STATE USlCameraProxy::GetCameraPosition(SL_PoseData* pose
726748
return SL_POSITIONAL_TRACKING_STATE_OFF;
727749
}
728750

751+
SL_PositionalTrackingStatus* USlCameraProxy::GetPositionalTrackingStatus()
752+
{
753+
return sl_get_positional_tracking_status(CameraID);
754+
}
755+
729756
SL_ERROR_CODE USlCameraProxy::GetCameraIMURotationAtImage(sl::Rotation& pose)
730757
{
731758
if (sl_is_opened(CameraID)) {
@@ -1760,6 +1787,63 @@ void USlCameraProxy::DisableSVORecording()
17601787
SL_SCOPE_UNLOCK
17611788
}
17621789

1790+
int USlCameraProxy::IngestDataIntoSVO(const FSlSVOData& svoData)
1791+
{
1792+
SL_ERROR_CODE err;
1793+
SL_SCOPE_LOCK(Lock, GrabSection)
1794+
auto SvoData = sl::unreal::ToSlType(svoData);
1795+
err = sl_ingest_data_into_svo(CameraID, &SvoData);
1796+
SL_SCOPE_UNLOCK
1797+
1798+
if (err != SL_ERROR_CODE::SL_ERROR_CODE_SUCCESS) {
1799+
SL_CAMERA_PROXY_LOG_E("IngestDataIntoSVO: Error:\"%s\"", *EnumToString(sl::unreal::ToUnrealType(err)));
1800+
}
1801+
1802+
return (int)err;
1803+
}
1804+
1805+
int USlCameraProxy::RetrieveSVOData(const FString& key, TArray<FSlSVOData>& resSVOData, FString ts_nano_begin, FString ts_nano_end)
1806+
{
1807+
SL_ERROR_CODE err = SL_ERROR_CODE_FAILURE;
1808+
uint64 tsb = FCString::Strtoui64(*ts_nano_begin, NULL, 10);
1809+
uint64 tse = FCString::Strtoui64(*ts_nano_end, NULL, 10);
1810+
auto ckey = std::make_unique<char[]>(128);
1811+
1812+
strcpy(ckey.get(), TCHAR_TO_ANSI(*key));
1813+
1814+
resSVOData.Empty();
1815+
1816+
SL_SCOPE_LOCK(Lock, GrabSection)
1817+
int nb_data = sl_get_svo_data_size(CameraID, ckey.get(), tsb, tse);
1818+
if (nb_data > 0) {
1819+
auto cdata = std::make_unique<SL_SVOData[]>(nb_data);
1820+
err = sl_retrieve_svo_data(CameraID, ckey.get(), nb_data, cdata.get(), tsb, tse);
1821+
for (int i = 0; i < nb_data; ++i) {
1822+
resSVOData.Add(sl::unreal::ToUnrealType(cdata[i]));
1823+
}
1824+
}
1825+
SL_SCOPE_UNLOCK
1826+
1827+
return (int)err;
1828+
}
1829+
1830+
TArray<FString> USlCameraProxy::GetSVODataKeys()
1831+
{
1832+
TArray<FString> res;
1833+
1834+
SL_SCOPE_LOCK(Lock, GrabSection)
1835+
int nbkeys = sl_get_svo_data_keys_size(CameraID);
1836+
auto cdata = std::make_unique<char*[]>(nbkeys);
1837+
sl_get_svo_data_keys(CameraID, nbkeys, cdata.get());
1838+
for (int i = 0; i < nbkeys; ++i) {
1839+
res.Add(FString(cdata[i]));
1840+
}
1841+
SL_SCOPE_UNLOCK
1842+
1843+
return res;
1844+
}
1845+
1846+
17631847
void USlCameraProxy::SetSVOPlaybackPosition(int Position)
17641848
{
17651849
SL_SCOPE_LOCK(Lock, GrabSection)

‎Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsBaseTypes.h

Lines changed: 56 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -163,9 +163,9 @@ enum class ESlDepthMode : uint8
163163
DM_None UMETA(DisplayName = "None"),
164164
DM_Performance UMETA(DisplayName = "Performance"),
165165
DM_Quality UMETA(DisplayName = "Quality"),
166-
//DM_NeuralFast UMETA(DisplayName = "NeuralFast"),
167166
DM_Ultra UMETA(DisplayName = "Ultra"),
168-
DM_Neural UMETA(DisplayName = "Neural")
167+
DM_Neural UMETA(DisplayName = "Neural"),
168+
DM_NeuralPlus UMETA(DisplayName = "Neural+")
169169
};
170170

171171
/*
@@ -544,6 +544,20 @@ enum class ESlPositionalTrackingMode : uint8
544544
PTM_Quality UMETA(DisplayName = "Quality")
545545
};
546546

547+
/*
548+
* Lists available modules.
549+
*/
550+
UENUM(BlueprintType, Category = "Stereolabs|Enum")
551+
enum class ESlModule : uint8
552+
{
553+
M_All UMETA(DisplayName = "All"),
554+
M_Depth UMETA(DisplayName = "Depth"),
555+
M_PositionalTracking UMETA(DisplayName = "Positional Tracking"),
556+
M_ObjectDetection UMETA(DisplayName = "Object Detection"),
557+
M_BodyTracking UMETA(DisplayName = "Body Tracking"),
558+
M_SpatialMapping UMETA(DisplayName = "Spatial Mapping")
559+
};
560+
547561
/**
548562
\brief Lists the different states of region of interest auto detection.
549563
*/
@@ -623,13 +637,11 @@ enum class ESlAIModels : uint8
623637
AIM_HumanBody38FastDetection UMETA(DisplayName = "Human body 38 fast Detection"),
624638
AIM_HumanBody38MediumDetection UMETA(DisplayName = "Human body 38 medium Detection"),
625639
AIM_HumanBody38AccurateDetection UMETA(DisplayName = "Human body 38 accurate Detection"),
626-
//AIM_HumanBody70FastDetection UMETA(DisplayName = "Human body 70 fast Detection"),
627-
//AIM_HumanBody70MediumDetection UMETA(DisplayName = "Human body 70 medium Detection"),
628-
//AIM_HumanBody70AccurateDetection UMETA(DisplayName = "Human body 70 accurate Detection"),
629640
AIM_PersonHeadFastDetection UMETA(DisplayName = "Person head fast Detection"),
630641
AIM_PersonHeadAccurateDetection UMETA(DisplayName = "Person head accurate Detection"),
631642
AIM_REIDAssociation UMETA(DisplayName = "REID Association"),
632643
AIM_NeuralDepth UMETA(DisplayName = "Neural Depth"),
644+
AIM_NeuralPlusDepth UMETA(DisplayName = "Neural Plus Depth")
633645
};
634646

635647
/*
@@ -640,8 +652,7 @@ enum class ESlBodyFormat : uint8
640652
{
641653
BF_BODY_18 UMETA(DisplayName = "Body 18"),
642654
BF_BODY_34 UMETA(DisplayName = "Body 34"),
643-
BF_BODY_38 UMETA(DisplayName = "Body 38"),
644-
// BF_BODY_70 UMETA(DisplayName = "Body 70")
655+
BF_BODY_38 UMETA(DisplayName = "Body 38")
645656
};
646657

647658
/*
@@ -651,8 +662,7 @@ UENUM(BlueprintType, Category = "Stereolabs|Enum")
651662
enum class ESlBodyKeypointsSelection : uint8
652663
{
653664
BKS_FULL UMETA(DisplayName = "Full"),
654-
BKS_UPPER_BODY UMETA(DisplayName = "Upper body"),
655-
//BKS_HAND UMETA(DisplayName = "Hand"),
665+
BKS_UPPER_BODY UMETA(DisplayName = "Upper body")
656666
};
657667

658668
/*
@@ -1775,7 +1785,7 @@ struct STEREOLABS_API FSlRuntimeParameters
17751785
:
17761786
bEnableDepth(true),
17771787
bEnableFillMode(false),
1778-
ConfidenceThreshold(100),
1788+
ConfidenceThreshold(95),
17791789
TextureConfidenceThreshold(100),
17801790
ReferenceFrame(ESlReferenceFrame::RF_World),
17811791
bRemoveSaturatedAreas(true)
@@ -2291,7 +2301,7 @@ struct STEREOLABS_API FSlRegionOfInterestParameters
22912301
:
22922302
depthFarThresholdMeters(2.5f),
22932303
imageHeightRatioCutoff(0.5f),
2294-
bAutoApply(false)
2304+
autoApplyModule({ESlModule::M_All })
22952305
{}
22962306

22972307
/**
@@ -2313,7 +2323,7 @@ struct STEREOLABS_API FSlRegionOfInterestParameters
23132323
23142324
Default: Enabled
23152325
*/
2316-
bool bAutoApply = true;
2326+
TSet<ESlModule> autoApplyModule;
23172327
};
23182328

23192329
/*
@@ -2927,11 +2937,6 @@ struct STEREOLABS_API FSlObjectDetectionParameters
29272937
GENERATED_BODY()
29282938

29292939
const TCHAR* Section = TEXT("ObjectDetection");
2930-
2931-
/* Defines if the object detection is synchronized to the image or runs in a separate thread. */
2932-
UPROPERTY(EditAnywhere, BlueprintReadWrite)
2933-
bool bImageSync;
2934-
29352940
/* Defines if the object detection will track objects across images flow. */
29362941
UPROPERTY(EditAnywhere, BlueprintReadWrite)
29372942
bool bEnableTracking;
@@ -2974,7 +2979,6 @@ struct STEREOLABS_API FSlObjectDetectionParameters
29742979
bool bAllowReducedPrecisionInference;
29752980

29762981
FSlObjectDetectionParameters() :
2977-
bImageSync(true),
29782982
bEnableTracking(true),
29792983
bEnableSegmentation(false),
29802984
DetectionModel(ESlObjectDetectionModel::ODM_MultiClassBoxFast),
@@ -3172,11 +3176,6 @@ struct STEREOLABS_API FSlBodyTrackingParameters
31723176
GENERATED_BODY()
31733177

31743178
const TCHAR* Section = TEXT("BodyTracking");
3175-
3176-
/* Defines if the object detection is synchronized to the image or runs in a separate thread. */
3177-
UPROPERTY(EditAnywhere, BlueprintReadWrite)
3178-
bool bImageSync;
3179-
31803179
/* Defines if the object detection will track objects across images flow. */
31813180
UPROPERTY(EditAnywhere, BlueprintReadWrite)
31823181
bool bEnableTracking;
@@ -3222,7 +3221,6 @@ struct STEREOLABS_API FSlBodyTrackingParameters
32223221
bool bAllowReducedPrecisionInference;
32233222

32243223
FSlBodyTrackingParameters() :
3225-
bImageSync(true),
32263224
bEnableTracking(true),
32273225
bEnableSegmentation(false),
32283226
DetectionModel(ESlBodyTrackingModel::BTM_HumanBodyMedium),
@@ -3424,6 +3422,40 @@ struct STEREOLABS_API FSlBodies
34243422
{}
34253423
};
34263424

3425+
USTRUCT(BlueprintType, Category = "Stereolabs|Struct")
3426+
struct STEREOLABS_API FSlSVOData
3427+
{
3428+
GENERATED_BODY()
3429+
3430+
/// <summary>
3431+
/// Key used to retrieve the data stored into SVOData's content.
3432+
/// WARNING: Length must not exceed 128.
3433+
/// </summary>
3434+
UPROPERTY(EditAnywhere, BlueprintReadWrite)
3435+
FString Key = "";
3436+
3437+
/// <summary>
3438+
/// Timestamp of the data, in nanoseconds, as a string.
3439+
/// </summary>
3440+
UPROPERTY(EditAnywhere, BlueprintReadWrite)
3441+
FString TimestampNano = "0";
3442+
3443+
/// <summary>
3444+
/// Content stored as SVOData.
3445+
/// Allow any type of content, including raw data like compressed images or JSON.
3446+
/// </summary>
3447+
UPROPERTY(EditAnywhere, BlueprintReadWrite)
3448+
FString Content = "";
3449+
3450+
FSlSVOData()
3451+
:
3452+
Key(""),
3453+
TimestampNano(""),
3454+
Content("")
3455+
{}
3456+
};
3457+
3458+
34273459
/*
34283460
* Rendering parameters
34293461
*/

‎Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCameraProxy.h

Lines changed: 34 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -276,13 +276,13 @@ class STEREOLABS_API USlCameraProxy : public UObject
276276
ESlTrackingState GetPosition(FSlPose& Pose, ESlReferenceFrame ReferenceFrame);
277277

278278
UFUNCTION(BlueprintPure, meta = (Keywords = "Set Region Of Interest"), Category = "Zed|Tracking")
279-
ESlErrorCode SetRegionOfInterest(FSlMat& Mat);
279+
ESlErrorCode SetRegionOfInterest(FSlMat& Mat, TSet<ESlModule> Module);
280280

281281
UFUNCTION(BlueprintPure, meta = (Keywords = "Get Region Of Interest"), Category = "Zed|Tracking")
282-
ESlErrorCode GetRegionOfInterest(FSlMat& Mat, FIntPoint& resolution);
282+
ESlErrorCode GetRegionOfInterest(FSlMat& Mat, FIntPoint& Resolution, ESlModule Module);
283283

284284
UFUNCTION(BlueprintPure, meta = (Keywords = "start region of interest auto detection"), Category = "Zed|Tracking")
285-
ESlErrorCode StartRegionOfInterestAutoDetection(FSlRegionOfInterestParameters& roiParams);
285+
ESlErrorCode StartRegionOfInterestAutoDetection(FSlRegionOfInterestParameters& RoiParams);
286286

287287
UFUNCTION(BlueprintPure, meta = (Keywords = "get region of interest auto detection status"), Category = "Zed|Tracking")
288288
ESlRegionOfInterestAutoDetectionState GetRegionOfInterestAutoDetectionStatus();
@@ -601,6 +601,31 @@ class STEREOLABS_API USlCameraProxy : public UObject
601601
UFUNCTION(BlueprintCallable, meta = (Keywords = "disable svo recording"), Category = "Zed|SVO")
602602
void DisableSVORecording();
603603

604+
/// <summary>
605+
/// Ingests SVOData in a SVO file.
606+
/// </summary>
607+
/// <param name="svoData">Data to ingest in the SVO file.</param>
608+
UFUNCTION(BlueprintCallable, meta = (Keywords = "ingest svo data"), Category = "Zed|SVO")
609+
int IngestDataIntoSVO(const FSlSVOData& svoData);
610+
611+
/// <summary>
612+
/// Retrieves SVOData from an SVO file.
613+
/// </summary>
614+
/// <param name="key">The key of the SVOData that is going to be retrieved.</param>
615+
/// <param name="resSVOData">The array to be filled with FSlSVOData objects.</param>
616+
/// <param name="ts_nano_begin">The beginning of the range.</param>
617+
/// <param name="ts_nano_end">The end of the range.</param>
618+
/// <returns>sl_ERROR_CODE_SUCCESS in case of success, sl_ERROR_CODE_FAILURE otherwise.</returns>
619+
UFUNCTION(BlueprintCallable, meta = (Keywords = "retrieve svo data"), Category = "Zed|SVO")
620+
int RetrieveSVOData(const FString& key, TArray<FSlSVOData>& resSVOData, FString ts_nano_begin, FString ts_nano_end);
621+
622+
/// <summary>
623+
/// Gets the external channels that can be retrieved from the SVO file.
624+
/// </summary>
625+
/// <returns>List of available keys in the SVO.</returns>
626+
UFUNCTION(BlueprintCallable, meta = (Keywords = "get svo data keys"), Category = "Zed|SVO")
627+
TArray<FString> GetSVODataKeys();
628+
604629
/*
605630
* Set the SVO playback position
606631
* @param Position The new position
@@ -758,6 +783,12 @@ class STEREOLABS_API USlCameraProxy : public UObject
758783
*/
759784
SL_POSITIONAL_TRACKING_STATE GetCameraPosition(SL_PoseData* pose, SL_REFERENCE_FRAME rframe);
760785

786+
/// <summary>
787+
/// Returns the current status of positional tracking module.
788+
/// </summary>
789+
/// <returns>The SL_PositionalTrackingStatus of the camera.</returns>
790+
SL_PositionalTrackingStatus* GetPositionalTrackingStatus();
791+
761792
/*
762793
* Easy access to IMU pose
763794
*/

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