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Merge pull request #44 from stereolabs/devel
Merge PR #43 and add new features
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‎latest_changes.md ‎CHANGELOG.rst

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@@ -1,9 +1,23 @@
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LATEST CHANGES
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==============
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ZED SDK v3.8
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-------------
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- Add support for Region of Interest [Thx @ryanppeters]
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* Add `roi` parameter
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* Add `roi-x` parameter
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* Add `roi-y` parameter
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* Add `roi-w` parameter
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* Add `roi-h` parameter
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- Add `set-gravity-as-origin` parameter [Thx @ryanppeters]
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- Add `od-prediction-timeout-s` parameter [Thx @ryanppeters]
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- Add `od-allow-reduced-precision-inference` parameter [Thx @ryanppeters]
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- Add new field `frame_id` to `GstZedSrcMeta` in order to track the meta/buffer throughout the GStreamer pipeline (when working with source code) [Thx @ryanppeters]
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- Add support for new Object Detection models in `od-detection-model` (Person Head and Person Head ACCURATE)
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ZED SDK v3.7
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-------------
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- Fix issue with texture confidence threshold invalidating th edepth map
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- Fix issue with texture confidence threshold invalidating the depth map
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- Add support for NEURAL depth mode
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ZED SDK v3.5

‎CMakeLists.txt

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@@ -135,7 +135,7 @@ endif()
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####################################################################
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# USEFUL FILES
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FILE(GLOB_RECURSE doc_files ${CMAKE_SOURCE_DIR}/*.md)
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FILE(GLOB_RECURSE doc_files ${CMAKE_SOURCE_DIR}/*.md ${CMAKE_SOURCE_DIR}/*.rst)
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add_custom_target("DOCS" SOURCES ${doc_files})
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FILE(GLOB_RECURSE script_files ${CMAKE_SOURCE_DIR}/scripts/*)
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add_custom_target("SCRIPTS" SOURCES ${script_files})

‎README.md

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@@ -38,7 +38,7 @@ GStreamer plugin package for ZED Cameras. The package is composed of several plu
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### Windows installation
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* Install the latest ZED SDK v3.7.x from the [official download page](https://www.stereolabs.com/developers/release/) [Optional to compile the `zedsrc` plugin to acquire data from a ZED camera device]
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* Install the latest ZED SDK v3.8.x from the [official download page](https://www.stereolabs.com/developers/release/) [Optional to compile the `zedsrc` plugin to acquire data from a ZED camera device]
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* Install [Git](https://git-scm.com/) or download a ZIP archive
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* Install [CMake](https://cmake.org/)
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* Install a [GStreamer distribution (**both `runtime` and `development` installers**)](https://gstreamer.freedesktop.org/download/).
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#### Install prerequisites
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* Install the latest ZED SDK v3.5.x from the [official download page](https://www.stereolabs.com/developers/release/)
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* Install the latest ZED SDK v3.8.x from the [official download page](https://www.stereolabs.com/developers/release/)
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* Update list of `apt` available packages
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@@ -135,7 +135,11 @@ Most of the parameters follow the same name as the C++ API. Except that `_` is r
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* `depth-maximum-distance`: Maximum depth value
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* `depth-mode`: Depth Mode - {NONE (0), PERFORMANCE (1), QUALITY (2), ULTRA (3)}
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* `coordinate-system`: 3D Coordinate System - {Image (0) - Left handed, Y up (1) - Right handed, Y up (2) - Right handed, Z up (3) - Left handed, Z up (4) - Right handed, Z up, X fwd (5)}
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* `camera-disable-self-calib`: Disable the self calibration processing when the camera is opened - {TRUE, FALSE}
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* `roi`: Enable region of interest for SDK to focus on - {TRUE, FALSE}
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* `roi-x`: Region of interest focus left 'X' coordinate (-1 to not set ROI) - {-1,2208}
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* `roi-y`: Region of interest focus left 'Y' coordinate (-1 to not set ROI) - {-1,1242}
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* `roi-w`: Region of interest focus height (-1 to not set ROI) - {-1,2208}
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* `roi-h`: Region of interest focus height (-1 to not set ROI) - {-1,1242}
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* `depth-stabilization`: Enable depth stabilization - {TRUE, FALSE}
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* `confidence-threshold`: Specify the Depth Confidence Threshold - [0,100]
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* `texture-confidence-threshold`: Specify the Texture Confidence Threshold - [0,100]
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* `enable-imu-fusion`: This setting allows you to enable or disable IMU fusion. When set to false, only the optical odometry will be used - {TRUE, FALSE}
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* `enable-pose-smoothing`: This mode enables smooth pose correction for small drift correction - {TRUE, FALSE}
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* `set-floor-as-origin`: This mode initializes the tracking to be aligned with the floor plane to better position the camera in space.
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* `set-gravity-as-origin`: This mode initializes the tracking to override 2 of the 3 rotations from initial-world-transform using IMU gravity default: true - {TRUE, FALSE}
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* `pos-depth-min-range`: Sets the minimum depth used by the SDK for positional tracking (-1 for no minimum depth) - {-1, 65535}
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* `initial-world-transform-x`: X position of the camera in the world frame when the camera is started.
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* `initial-world-transform-y`: Y position of the camera in the world frame when the camera is started.
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* `initial-world-transform-z`: Z position of the camera in the world frame when the camera is started.
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* `od-enabled`: Enable Object Detection - {TRUE, FALSE}
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* `od-image-sync`: Set to TRUE to enable Object Detection frame synchronization - {TRUE, FALSE}
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* `od-enable-tracking`: Set to TRUE to enable tracking for the detected objects - {TRUE, FALSE}
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* `od-detection-model`: Object Detection Model - {(0): Object Detection Multi class, (1): Object Detection Multi class ACCURATE, (2): Skeleton tracking FAST, (3): Skeleton tracking ACCURATE, (4): Object Detection Multi class MEDIUM, (5): Skeleton tracking MEDIUM}
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* `od-detection-model`: Object Detection Model - {(0): Object Detection Multi class, (1): Object Detection Multi class ACCURATE, (2): Skeleton tracking FAST, (3): Skeleton tracking ACCURATE, (4): Object Detection Multi class MEDIUM, (5): Skeleton tracking MEDIUM, (6): Person Head, (7): Person Head ACCURATE}
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* `od-confidence`: Minimum Detection Confidence - {0,100}
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* `od-max-range`: Maximum Detection Range - [-1,20000]
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* `od-body-fitting`: Set to TRUE to enable body fitting for skeleton tracking - {TRUE, FALSE}
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* `od-prediction-timeout-s`: Timeout when an object is not detected anymore for the SDK to predict its position for a short period before its state switched to SEARCHING (sec)
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* `od-allow-reduced-precision-inference`: Runs inference at a lower precision to improve runtime and memory usage - {TRUE, FALSE}
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* `brightness`: Image brightness - {0,8}
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* `contrast`: Image contrast - {0,8}
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* `hue`: Image hue - {0,11}

‎gst-zed-data-mux/gstzeddatamux.cpp

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@@ -466,7 +466,7 @@ static GstFlowReturn gst_zeddatamux_chain_data(GstPad* pad, GstObject * parent,
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gst_buffer_add_zed_src_meta( out_buf,
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meta->info,
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meta->pose, meta->sens,
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meta->od_enabled, meta->obj_count, meta->objects);
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meta->od_enabled, meta->obj_count, meta->objects, meta->frame_id);
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// ----> Timestamp meta-data
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GST_TRACE ("Out buffer set timestamp" );
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gst_buffer_add_zed_src_meta( out_buf,
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meta->info,
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meta->pose, meta->sens,
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meta->od_enabled, meta->obj_count, meta->objects);
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meta->od_enabled, meta->obj_count, meta->objects, meta->frame_id);
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// ----> Timestamp meta-data
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GST_TRACE ("Out buffer set timestamp" );

‎gst-zed-demux/gstzeddemux.cpp

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@@ -560,7 +560,8 @@ static GstFlowReturn gst_zeddemux_chain(GstPad* pad, GstObject * parent, GstBuff
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meta->sens,
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meta->od_enabled,
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meta->obj_count,
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meta->objects );
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meta->objects,
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meta->frame_id );
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}
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GST_TRACE ("Left buffer set timestamp" );
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meta->sens,
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meta->od_enabled,
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meta->obj_count,
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meta->objects );
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meta->objects,
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meta->frame_id );
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}
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GST_TRACE ("Aux buffer set timestamp" );

‎gst-zed-meta/gstzedmeta.cpp

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{
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GST_TRACE( "gst_zed_src_meta_api_get_type");
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static volatile GType type;
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static GType type;
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static const gchar *tags[] =
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{ /*GST_META_TAG_VIDEO_STR, GST_META_TAG_VIDEO_SIZE_STR,
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emeta->sens,
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emeta->od_enabled,
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emeta->obj_count,
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emeta->objects );
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emeta->objects,
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emeta->frame_id);
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return TRUE;
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ZedSensors& sens,
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gboolean od_enabled,
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guint8 obj_count,
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ZedObjectData* objects)
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ZedObjectData* objects,
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guint64 frame_id)
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{
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GST_TRACE( "gst_buffer_add_zed_src_meta" );
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memcpy( &meta->objects, objects, obj_count*sizeof(ZedObjectData));
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meta->frame_id = frame_id;
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return meta;
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}

‎gst-zed-meta/gstzedmeta.h

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gboolean od_enabled;
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guint8 obj_count;
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guint64 frame_id;
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ZedObjectData objects[256];
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};
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ZedSensors& sens,
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gboolean od_enabled,
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guint8 obj_count,
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ZedObjectData* objects);
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ZedObjectData* objects,
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guint64 frame_id);
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G_END_DECLS
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