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SVO logging #598

Merged
merged 8 commits into from
Feb 10, 2025
Merged

SVO logging #598

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02db48a
SVO logging
ds58 Jan 10, 2025
24babaf
Incorporate lastGrabTime in isSensorRunning
ds58 Jan 13, 2025
638114c
Merge branch 'develop' into svo-logging
ds58 Jan 13, 2025
c2418cf
Add streamingPort to ZEDImageSensor
ds58 Jan 14, 2025
57ca991
Merge branch 'develop' into svo-logging
ds58 Jan 27, 2025
a6ca5cf
Merge branch 'develop' into svo-logging
ds58 Jan 31, 2025
1eb1221
Merge branch 'develop' into svo-logging
ds58 Feb 3, 2025
c5f4c8b
Merge branch 'develop' into svo-logging
ds58 Feb 10, 2025
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13 changes: 12 additions & 1 deletion ihmc-perception/src/main/java/us/ihmc/sensors/zed/ZEDImageSensor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@ public class ZEDImageSensor extends ImageSensor
ZEDJavaAPINativeLibrary.load();
}

private static int nextStreamingPort = 30000;

public static final int LEFT_COLOR_IMAGE_KEY = 0;
public static final int RIGHT_COLOR_IMAGE_KEY = 1;
public static final int DEPTH_IMAGE_KEY = 2;
Expand All @@ -45,6 +47,7 @@ public class ZEDImageSensor extends ImageSensor
private final int cameraID;
private final ZEDModelData zedModel;
private final int slInputType;
private final int streamingPort = nextStreamingPort++;

private final RawImage[] grabbedImages = new RawImage[OUTPUT_IMAGE_COUNT];
private final Pointer[] slMatPointers = new Pointer[OUTPUT_IMAGE_COUNT];
Expand Down Expand Up @@ -109,6 +112,8 @@ protected boolean startSensor()
sl_enable_positional_tracking(cameraID, positionalTrackingParameters, "");
}

sl_enable_streaming(cameraID, SL_STREAMING_CODEC_H264, 8000, (short) streamingPort, -1, 0, 16084, CAMERA_FPS);
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@calvertdw calvertdw Jan 14, 2025 •
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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

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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


// Get camera intrinsics
SL_CalibrationParameters sensorIntrinsics = sl_get_calibration_parameters(cameraID, false);
imageWidth = sl_get_width(cameraID);
Expand Down Expand Up @@ -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;
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👍

}

@Override
Expand Down Expand Up @@ -304,6 +310,11 @@ public int getCameraID()
return cameraID;
}

public int getStreamingPort()
{
return streamingPort;
}

public void enablePositionalTracking(boolean enable)
{
positionalTrackingEnabled = enable;
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