Merge pull request #13 from stereolabs/sdk_v3.3

SDK v3.3

Author: Myzhar

README.md

@@ -38,7 +38,7 @@ GStreamer plugin package for ZED Cameras. The package is composed of several plu
 
 ### Windows installation
 
- * Install the latest ZED SDK 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]
+ * Install the latest ZED SDK v3.3.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]
  * Install [Git](https://git-scm.com/) or download a ZIP archive
  * Install [CMake](https://cmake.org/)
  * Install a [GStreamer distribution (**both `runtime` and `development` installers**)](https://gstreamer.freedesktop.org/download/).
@@ -59,7 +59,7 @@ GStreamer plugin package for ZED Cameras. The package is composed of several plu
 
 #### Install prerequisites
 
-* Install the latest ZED SDK from the [official download page](https://www.stereolabs.com/developers/release/)
+* Install the latest ZED SDK v3.3.x from the [official download page](https://www.stereolabs.com/developers/release/)
 
 * Update list of `apt` available packages
 

gst-zed-meta/gstzedmeta.h

@@ -84,8 +84,12 @@ struct _ZedSensors {
 };
 
 enum class OBJECT_CLASS {
-    PERSON = 0, /**< For people detection */
-    VEHICLE = 1, /**< For vehicles detection. It can be cars, trucks, buses, motorcycles etc */
+    PERSON = 0,
+    VEHICLE = 1,
+    BAG = 2,
+    ANIMAL = 3,
+    ELECTRONICS = 4,
+    FRUIT_VEGETABLE = 5,
     LAST
 };
 

gst-zed-od-overlay/gstzedodoverlay.cpp

@@ -408,7 +408,32 @@ static void draw_objects( cv::Mat& image, guint8 obj_count, ZedObjectData* objs,
             double font_scale = 0.75;
 
             std::stringstream txt_info;
-            txt_info << "Id: " << objs[i].id << " - " << ((objs[i].label==OBJECT_CLASS::PERSON)?"PERSON":"VEHICLE");
+            txt_info << "Id: " << objs[i].id << " - ";
+
+            switch (objs[i].label) {
+            case OBJECT_CLASS::PERSON:
+                txt_info << "PERSON";
+                break;
+            case OBJECT_CLASS::VEHICLE:
+                txt_info << "VEHICLE";
+                break;
+            case OBJECT_CLASS::ANIMAL:
+                txt_info << "ANIMAL";
+                break;
+            case OBJECT_CLASS::BAG:
+                txt_info << "BAG";
+                break;
+            case OBJECT_CLASS::ELECTRONICS:
+                txt_info << "ELECTRONICS";
+                break;
+            case OBJECT_CLASS::FRUIT_VEGETABLE:
+                txt_info << "FRUIT_VEGETABLE";
+                break;
+            case OBJECT_CLASS::LAST:
+            default:
+                txt_info << "UNDEFINED";
+                break;
+            }
 
             cv::Size txt_size = cv::getTextSize( txt_info.str(), font_face, font_scale, 1, &baseline );
 

gst-zed-src/gstzedsrc.cpp

@@ -108,8 +108,9 @@ typedef enum {
 
 typedef enum {
     GST_ZEDSRC_OD_MULTI_CLASS_BOX = 0,
-    GST_ZEDSRC_OD_HUMAN_BODY_FAST = 1,
-    GST_ZEDSRC_OD_HUMAN_BODY_ACCURATE  = 2
+    GST_ZEDSRC_OD_MULTI_CLASS_BOX_ACCURATE = 1,
+    GST_ZEDSRC_OD_HUMAN_BODY_FAST = 2,
+    GST_ZEDSRC_OD_HUMAN_BODY_ACCURATE  = 3
 } GstZedSrcOdModel;
 
 #define DEFAULT_PROP_CAM_RES        static_cast<gint>(sl::RESOLUTION::HD1080)
@@ -267,6 +268,9 @@ static GType gst_zedtsrc_od_model_get_type (void)
             { GST_ZEDSRC_OD_MULTI_CLASS_BOX,
               "Any objects, bounding box based",
               "Object Detection Multi class" },
+            { GST_ZEDSRC_OD_MULTI_CLASS_BOX_ACCURATE,
+              "Any objects, bounding box based, state of the art accuracy, requires powerful GPU",
+              "Object Detection Multi class ACCURATE" },
             { GST_ZEDSRC_OD_HUMAN_BODY_FAST,
               "Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards",
               "Skeleton tracking FAST" },
@@ -871,7 +875,12 @@ static gboolean gst_zedsrc_calculate_caps(GstZedSrc* src)
 }
 
 static gboolean gst_zedsrc_start( GstBaseSrc * bsrc )
-{
+{   
+#if ZED_SDK_MAJOR_VERSION!=3 && ZED_SDK_MINOR_VERSION!=3
+    GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
+                       ("Wrong ZED SDK version. SDK v3.3.x required "), (NULL));
+#endif
+
     GstZedSrc *src = GST_ZED_SRC (bsrc);
     sl::ERROR_CODE ret;
 

latest_changes.md

@@ -1,6 +1,12 @@
 LATEST CHANGES
 ==============
 
+ZED SDK v3.3 (2020-11-27)
+---------------------
+- Add compatibility fix for ZED SDK v3.3
+- Add support for multiple OD class
+- Add support for MULTICLASS ACCURATE
+
 Release v0.1 (2020-08-24)
 --------------------------
 - ZED GStreamer package for Linux and Windows

scripts/linux/local-od-fps_overlay.sh

@@ -9,7 +9,7 @@
 # 4) Display the depth stream with FPS info using the `fpsdisplaysink` sink plugin.
 
 gst-launch-1.0 \
-zedsrc stream-type=4 resolution=2 framerate=30 od-enabled=true od-detection-model=1 ! \
+zedsrc stream-type=4 resolution=2 framerate=30 od-enabled=true od-detection-model=2 ! \
 zeddemux name=demux \
 demux.src_left ! queue ! zedodoverlay ! queue ! autovideoconvert ! fpsdisplaysink \
 demux.src_aux ! queue ! autovideoconvert ! fpsdisplaysink

scripts/windows/local-od-fps_overlay.bat

@@ -7,7 +7,7 @@
 :: 4) Display the depth stream with FPS info using the `fpsdisplaysink` sink plugin.
 
 gst-launch-1.0 ^
-zedsrc stream-type=4 resolution=2 framerate=30 od-enabled=true od-detection-model=1 ! ^
+zedsrc stream-type=4 resolution=2 framerate=30 od-enabled=true od-detection-model=2 ! ^
 zeddemux name=demux ^
 demux.src_left ! queue ! zedodoverlay ! queue ! autovideoconvert ! fpsdisplaysink ^
 demux.src_aux ! queue ! autovideoconvert ! fpsdisplaysink