SVO logging #598
SVO logging #598
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| @@ -180,7 +185,8 @@ protected int openCamera() | |||
| @Override | |||
| public boolean isSensorRunning() | |||
| { | |||
| return sl_is_opened(cameraID) && !lastGrabFailed; | |||
| boolean recentlyGrabbed = lastGrabTime != null && lastGrabTime.isAfter(Instant.now().minusSeconds(1)); | |||
| return sl_is_opened(cameraID) && !lastGrabFailed && recentlyGrabbed; | |||
| @@ -109,6 +112,8 @@ protected boolean startSensor() | |||
| sl_enable_positional_tracking(cameraID, positionalTrackingParameters, ""); | |||
| } | |||
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| sl_enable_streaming(cameraID, SL_STREAMING_CODEC_H264, 8000, (short) streamingPort, -1, 0, 16084, CAMERA_FPS); | |||
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Does this mean it's always streaming, even when doing local tests & development?
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Streaming is always enabled, not necessarily streaming to anything
| @@ -109,6 +112,8 @@ protected boolean startSensor() | |||
| sl_enable_positional_tracking(cameraID, positionalTrackingParameters, ""); | |||
| } | |||
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| sl_enable_streaming(cameraID, SL_STREAMING_CODEC_H264, 8000, (short) streamingPort, -1, 0, 16084, CAMERA_FPS); | |||
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You could use StreamingTools.getOpenPort() here. Though it's kinda nice knowing that ZED uses port 30000 and up. Up to you to decide which method you prefer.
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I want to keep it like this, since ZED SDK typically always uses port 30000 or around there
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I imagine we'll add the sensor pose into the ZED Stream in the future? Or should that happen in this PR? |
Future change |
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