Merge pull request #727 from stereolabs/r5.1.0

r5.1.0

Author: JujuDel

CMakeLists.txt

@@ -27,28 +27,25 @@ add_subdirectory("recording/export/svo/${TYPE}")
 add_subdirectory("recording/playback/single camera/${TYPE}")
 add_subdirectory("recording/recording/single camera/${TYPE}")
 if(${BUILD_CPP})
-add_subdirectory("recording/export/sensors/${TYPE}")
-add_subdirectory("recording/playback/multi camera/${TYPE}")
-add_subdirectory("recording/recording/multi camera/${TYPE}")
-add_subdirectory("spatial mapping/multi camera/${TYPE}")
-add_subdirectory("plane detection/floor plane/${TYPE}")
-add_subdirectory("global localization/live/${TYPE}")
-add_subdirectory("global localization/playback/${TYPE}")
-add_subdirectory("global localization/recording/${TYPE}")
-add_subdirectory("body tracking/multi-camera/${TYPE}")
-add_subdirectory("body tracking/export/fbx export/${TYPE}")
-add_subdirectory("depth sensing/image refocus/${TYPE}")
-add_subdirectory("depth sensing/automatic region of interest/${TYPE}")
-add_subdirectory("depth sensing/manual region of interest/${TYPE}")
-add_subdirectory("depth sensing/multi camera/${TYPE}")
-add_subdirectory("camera streaming/receiver/${TYPE}")
-add_subdirectory("camera streaming/single_sender/${TYPE}")
-add_subdirectory("camera streaming/multi_sender/${TYPE}")
-if(WIN32)
-    message(STATUS "Skipping ZED One samples")
-else(WIN32)
+    add_subdirectory("recording/export/sensors/${TYPE}")
+    add_subdirectory("recording/playback/multi camera/${TYPE}")
+    add_subdirectory("recording/recording/multi camera/${TYPE}")
+    add_subdirectory("spatial mapping/multi camera/${TYPE}")
+    add_subdirectory("plane detection/floor plane/${TYPE}")
+    add_subdirectory("global localization/live/${TYPE}")
+    add_subdirectory("global localization/playback/${TYPE}")
+    add_subdirectory("global localization/recording/${TYPE}")
+    add_subdirectory("body tracking/multi-camera/${TYPE}")
+    add_subdirectory("body tracking/export/fbx export/${TYPE}")
+    add_subdirectory("depth sensing/image refocus/${TYPE}")
+    add_subdirectory("depth sensing/automatic region of interest/${TYPE}")
+    add_subdirectory("depth sensing/manual region of interest/${TYPE}")
+    add_subdirectory("depth sensing/multi camera/${TYPE}")
+    add_subdirectory("camera streaming/receiver/${TYPE}")
+    add_subdirectory("camera streaming/single_sender/${TYPE}")
+    add_subdirectory("camera streaming/multi_sender/${TYPE}")
     add_subdirectory("zed one/${TYPE}")	
-endif(WIN32)
+    add_subdirectory("virtual stereo/${TYPE}")
 endif()
 
 add_subdirectory("tutorials")

body tracking/body tracking/cpp/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.5)
 PROJECT(ZED_Body_Tracking_Viewer)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON)

body tracking/export/JSON export/cpp/CMakeLists.txt

@@ -1,7 +1,7 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(ZED_Bodies_JSON_Export)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 SET(CMAKE_BUILD_TYPE "Release")
 

body tracking/export/fbx export/cpp/CMakeLists.txt

@@ -2,7 +2,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 
 PROJECT(ZED_Body_export_FBX)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 SET(CMAKE_BUILD_TYPE "Release")
 

body tracking/multi-camera/cpp/CMakeLists.txt

@@ -1,7 +1,7 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(ZED_BodyFusion)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 SET(CMAKE_BUILD_TYPE "Release")
 

body tracking/multi-camera/cpp/include/GLViewer.hpp

@@ -273,8 +273,6 @@ class GLViewer {
     static void keyReleasedCallback(unsigned char c, int x, int y);
     static void idle();
 
-    void addSKeleton(sl::BodyData &, Simple3DObject &, sl::float3 clr_id, bool raw);
-
     sl::float3 getColor(int, bool);
 
     bool available;

body tracking/multi-camera/cpp/src/GLViewer.cpp

@@ -141,7 +141,11 @@ void GLViewer::init(int argc, char **argv) {
     shader.MVP_Mat = glGetUniformLocation(shader.it.getProgramId(), "u_mvpMatrix");
 
     // Create the camera
-    camera_ = CameraGL(sl::Translation(0, 2, 10), sl::Translation(0, 0, -1));
+    camera_ = CameraGL(sl::Translation(0, 3, 3), sl::Translation(0, 0, -1));
+    sl::float3 ea(-30,0,0);
+    sl::Rotation rot;
+    rot.setEulerAngles(ea, false);
+    camera_.rotate(rot);
 
     // Create the skeletons objects
     skeletons.setDrawingType(GL_LINES);
@@ -312,8 +316,13 @@ void GLViewer::render() {
 
 void GLViewer::setCameraPose(int id, sl::Transform pose) {
     const std::lock_guard<std::mutex> lock(mtx);
-    getColor(id, false);
+    auto clr = getColor(id, false);
     poses[id] = pose;
+
+    if(viewers.find(id) == viewers.end()){
+        sl::Mat view;
+        viewers[id].initialize(view, clr);
+    }
 }
 
 inline bool renderBody(const sl::BodyData& i, const bool isTrackingON) {
@@ -324,9 +333,7 @@ inline bool renderBody(const sl::BodyData& i, const bool isTrackingON) {
 }
 
 template<typename T>
-void createSKPrimitive(sl::BodyData& body, const std::vector<std::pair<T, T>>& map, Simple3DObject& skp, sl::float3 clr_id, bool raw) {
-    const float cylinder_thickness = raw ? 0.01f : 0.025f;
-
+void createSKPrimitive(sl::BodyData& body, const std::vector<std::pair<T, T>>& map, Simple3DObject& skp, sl::float3 clr_id) {    
     for (auto& limb : map) {
         sl::float3 kp_1 = body.keypoint[getIdx(limb.first)];
         sl::float3 kp_2 = body.keypoint[getIdx(limb.second)];
@@ -335,16 +342,16 @@ void createSKPrimitive(sl::BodyData& body, const std::vector<std::pair<T, T>>& m
     }
 }
 
-void GLViewer::addSKeleton(sl::BodyData& obj, Simple3DObject& simpleObj, sl::float3 clr_id, bool raw) {
+void addSKeleton(sl::BodyData& obj, Simple3DObject& simpleObj, sl::float3 clr_id) {
     switch (obj.keypoint.size()) {
     case 18:
-        createSKPrimitive(obj, sl::BODY_18_BONES, simpleObj, clr_id, raw);
+        createSKPrimitive(obj, sl::BODY_18_BONES, simpleObj, clr_id);
         break;
     case 34:
-        createSKPrimitive(obj, sl::BODY_34_BONES, simpleObj, clr_id, raw);
+        createSKPrimitive(obj, sl::BODY_34_BONES, simpleObj, clr_id);
         break;
     case 38:
-        createSKPrimitive(obj, sl::BODY_38_BONES, simpleObj, clr_id, raw);
+        createSKPrimitive(obj, sl::BODY_38_BONES, simpleObj, clr_id);
         break;
     }
 }
@@ -357,7 +364,7 @@ void GLViewer::updateBodies(sl::Bodies &bodies, std::map<sl::CameraIdentifier, s
         for(auto &it:bodies.body_list) {
             auto clr = getColor(it.id, true);
             if (renderBody(it, bodies.is_tracked))
-                addSKeleton(it, skeletons, clr, false);
+                addSKeleton(it, skeletons, clr);
         }
     }
 
@@ -382,7 +389,7 @@ void GLViewer::updateBodies(sl::Bodies &bodies, std::map<sl::CameraIdentifier, s
 
             for (auto& sk : it.second.body_list) {
                 if(renderBody(sk, it.second.is_tracked))
-                    addSKeleton(sk, sk_r, clr, true);
+                    addSKeleton(sk, sk_r, clr);
             }
         }
 
@@ -463,11 +470,15 @@ void GLViewer::draw() {
     glUniformMatrix4fv(shader.MVP_Mat, 1, GL_TRUE, vpMatrix.m);
 
     floor_grid.draw();
+
     skeletons.draw();
 
-    if (show_raw)
+    if (show_raw){
+        glLineWidth(1.f);
         for (auto& it : skeletons_raw)
             it.second.draw();
+        glLineWidth(2.f);
+    }
 
     for (auto& it : viewers) {
         sl::Transform pose_ = vpMatrix * poses[it.first];
@@ -938,6 +949,9 @@ bool CameraViewer::initialize(sl::Mat &im, sl::float3 clr) {
     faces.push_back(sl::uint3(0,2,3));
 
     ref = im;
+    if(!ref.isInit()) 
+        return 1;
+        
 	shader.set(VERTEX_SHADER_TEXTURE, FRAGMENT_SHADER_TEXTURE);
     shMVPMatrixLocTex_ = glGetUniformLocation(shader.getProgramId(), "u_mvpMatrix");
 

body tracking/multi-camera/cpp/src/main.cpp

@@ -42,7 +42,7 @@ int main(int argc, char **argv) {
     constexpr sl::COORDINATE_SYSTEM COORDINATE_SYSTEM = sl::COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP;
     constexpr sl::UNIT UNIT = sl::UNIT::METER;
 
-    // Read json file containing the configuration of your multicamera setup.    
+    // Read json file containing the configuration of your multicamera setup.
     auto configurations = sl::readFusionConfigurationFile(argv[1], COORDINATE_SYSTEM, UNIT);
 
     if (configurations.empty()) {
@@ -102,7 +102,6 @@ int main(int argc, char **argv) {
     sl::InitFusionParameters init_params;
     init_params.coordinate_units = UNIT;
     init_params.coordinate_system = COORDINATE_SYSTEM;
-    init_params.verbose = true;
 
     sl::Resolution low_res(512,360);
     init_params.maximum_working_resolution = low_res;
@@ -141,6 +140,7 @@ int main(int argc, char **argv) {
     body_tracking_runtime_parameters.skeleton_minimum_allowed_keypoints = 7;
     // we can also want to retrieve skeleton seen by multiple camera, in this case at least half of them
     body_tracking_runtime_parameters.skeleton_minimum_allowed_camera = cameras.size() / 2.;
+    body_tracking_runtime_parameters.skeleton_smoothing = 0.1f;
 
 
     // creation of a 3D viewer
@@ -167,21 +167,22 @@ int main(int argc, char **argv) {
 
         // run the fusion process (which gather data from all camera, sync them and process them)
         if (fusion.process() == sl::FUSION_ERROR_CODE::SUCCESS) {
+
             // Retrieve fused body
             fusion.retrieveBodies(fused_bodies, body_tracking_runtime_parameters);
-
             // for debug, you can retrieve the data sent by each camera
             for (auto& id : cameras) { 
                 fusion.retrieveBodies(camera_raw_data[id], body_tracking_runtime_parameters, id);
-                sl::Pose pose;
-                if(fusion.getPosition(pose, sl::REFERENCE_FRAME::WORLD, id, sl::POSITION_TYPE::RAW) == sl::POSITIONAL_TRACKING_STATE::OK)
-                    viewer.setCameraPose(id.sn, pose.pose_data);
 
                 auto state_view = fusion.retrieveImage(views[id], id, low_res);
                 auto state_pc = fusion.retrieveMeasure(pointClouds[id], id, sl::MEASURE::XYZBGRA, low_res);
 
                 if (state_view == sl::FUSION_ERROR_CODE::SUCCESS && state_pc == sl::FUSION_ERROR_CODE::SUCCESS)
                     viewer.updateCamera(id.sn, views[id], pointClouds[id]);
+
+                sl::Pose pose;
+                if(fusion.getPosition(pose, sl::REFERENCE_FRAME::WORLD, id, sl::POSITION_TYPE::RAW) == sl::POSITIONAL_TRACKING_STATE::OK)
+                    viewer.setCameraPose(id.sn, pose.pose_data);
             }
 
             // get metrics about the fusion process for monitoring purposes

camera control/cpp/CMakeLists.txt

@@ -1,7 +1,7 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(ZED_Camera_Control)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 SET(CMAKE_BUILD_TYPE "Release")
 

camera control/cpp/src/main.cpp

@@ -106,7 +106,7 @@ int main(int argc, char **argv) {
 
     // Open the camera
     auto returned_state = zed.open(init_parameters);
-    if (returned_state != ERROR_CODE::SUCCESS) {
+    if (returned_state > ERROR_CODE::SUCCESS) {
         print("Camera Open", returned_state, "Exit program.");
         return EXIT_FAILURE;
     }
@@ -199,15 +199,15 @@ void updateCameraSettings(char key, sl::Camera &zed, sl::InitParameters& init_pa
         std::cout << " Current Value : " << current_value << std::endl;
         break;
 
-        // Increase camera settings value ('+' key)
+    // Increase camera settings value ('+' key)
     case '+':
         zed.getCameraSettings(camera_settings_, current_value);
         zed.setCameraSettings(camera_settings_, current_value + step_camera_setting);
         zed.getCameraSettings(camera_settings_, current_value);
         print(str_camera_settings + ": " + std::to_string(current_value));
         break;
 
-        // Decrease camera settings value ('-' key)
+    // Decrease camera settings value ('-' key)
     case '-':
         zed.getCameraSettings(camera_settings_, current_value);
         current_value = current_value > 0 ? current_value - step_camera_setting : 0; // take care of the 'default' value parameter:  VIDEO_SETTINGS_VALUE_AUTO
@@ -216,16 +216,16 @@ void updateCameraSettings(char key, sl::Camera &zed, sl::InitParameters& init_pa
         print(str_camera_settings + ": " + std::to_string(current_value));
         break;
 
-        //switch LED On :
+    //switch LED On :
     case 'l':
         led_on = !led_on;
         zed.setCameraSettings(sl::VIDEO_SETTINGS::LED_STATUS, led_on);
         break;
 
-        // Reset to default parameters
+    // Reset to default parameters
     case 'r':
         print("Reset all settings to default\n");
-        for (int s = (int) VIDEO_SETTINGS::BRIGHTNESS; s <= (int) VIDEO_SETTINGS::WHITEBALANCE_TEMPERATURE; s++)
+        for (int s = (int) VIDEO_SETTINGS::BRIGHTNESS; s < (int) VIDEO_SETTINGS::LAST; s++)
             zed.setCameraSettings(static_cast<VIDEO_SETTINGS> (s), sl::VIDEO_SETTINGS_VALUE_AUTO);
         break;
 
@@ -237,7 +237,7 @@ void updateCameraSettings(char key, sl::Camera &zed, sl::InitParameters& init_pa
         break;
 
     case 'f':
-        print("reset AEC_AGC_ROI to full res");
+        print("reset AEC_AGC_ROI to full image");
         zed.setCameraSettings(VIDEO_SETTINGS::AEC_AGC_ROI, selection_rect, sl::SIDE::BOTH, true);
         break;