Merge pull request #18 from stereolabs/4.0.5

4.0.5

UnrealProject/Source/ZEDUnrealLiveLink/LiveLinkOrientationsRemapAsset.cpp

@@ -130,12 +130,14 @@ void ULiveLinkOrientationsRemapAsset::BuildPoseFromZEDAnimationData(float DeltaT
 			Keypoints = Keypoints38;
 			ParentsIdx = parents38Idx;
 		}
+#if 0
 		else if (InFrameData->Transforms.Num() == Keypoints70.Num() * 2)// BODY_70
 		{
 			NbKeypoints = 70;
 			Keypoints = Keypoints70;
 			ParentsIdx = parents70Idx;
 		}
+#endif
 		else if (InFrameData->Transforms.Num() == Keypoints34.Num() * 2)// BODY_34
 		{
 			NbKeypoints = 34;
@@ -184,7 +186,7 @@ void ULiveLinkOrientationsRemapAsset::BuildPoseFromZEDAnimationData(float DeltaT
 				LeftFootPosition = SkeletalMesh->GetBoneLocation(TransformedBoneNames[21]);
 				RightFootPosition = SkeletalMesh->GetBoneLocation(TransformedBoneNames[25]);
 			}
-			else // body 38 or 70
+			else // body 38
 			{
 				LeftFootPosition = SkeletalMesh->GetBoneLocation(TransformedBoneNames[24]);
 				RightFootPosition = SkeletalMesh->GetBoneLocation(TransformedBoneNames[25]);

UnrealProject/Source/ZEDUnrealLiveLink/Util.hpp

@@ -80,6 +80,50 @@ const TArray<int> parents38Idx = {
 	17
 };
 
+static TMap<int, FName> Keypoints38 = TMap<int, FName>{
+	{0, "PELVIS"},
+	{1, "SPINE_1"},
+	{2, "SPINE_2"},
+	{3, "SPINE_3"},
+	{4, "NECK"},
+	{5, "NOSE"},
+	{6, "LEFT_EYE"},
+	{7, "RIGHT_EYE"},
+	{8, "LEFT_EAR"},
+	{9, "RIGHT_EAR"},
+	{10, "LEFT_CLAVICLE"},
+	{11, "RIGHT_CLAVICLE"},
+	{12, "LEFT_SHOULDER"},
+	{13, "RIGHT_SHOULDER"},
+	{14, "LEFT_ELBOW"},
+	{15, "RIGHT_ELBOW"},
+	{16, "LEFT_WRIST"},
+	{17, "RIGHT_WRIST"},
+	{18, "LEFT_HIP"},
+	{19, "RIGHT_HIP"},
+	{20, "LEFT_KNEE"},
+	{21, "RIGHT_KNEE"},
+	{22, "LEFT_ANKLE"},
+	{23, "RIGHT_ANKLE"},
+	{24, "LEFT_BIG_TOE"},
+	{25, "RIGHT_BIG_TOE"},
+	{26, "LEFT_SMALL_TOE"},
+	{27, "RIGHT_SMALL_TOE"},
+	{28, "LEFT_HEEL"},
+	{29, "RIGHT_HEEL"},
+	{30, "LEFT_HAND_THUMB_4"},
+	{31, "RIGHT_HAND_THUMB_4"},
+	{32, "LEFT_HAND_INDEX_1"},
+	{33, "RIGHT_HAND_INDEX_1"},
+	{34, "LEFT_HAND_MIDDLE_4"},
+	{35, "RIGHT_HAND_MIDDLE_4"},
+	{36, "LEFT_HAND_PINKY_1"},
+	{37, "RIGHT_HAND_PINKY_1"},
+};
+
+#if 0
+
+
 const TArray<int> parents70Idx = {
 	-1,
 	0,
@@ -153,47 +197,6 @@ const TArray<int> parents70Idx = {
 	52
 };
 
-static TMap<int, FName> Keypoints38 = TMap<int, FName>{
-	{0, "PELVIS"},
-	{1, "SPINE_1"},
-	{2, "SPINE_2"},
-	{3, "SPINE_3"},
-	{4, "NECK"},
-	{5, "NOSE"},
-	{6, "LEFT_EYE"},
-	{7, "RIGHT_EYE"},
-	{8, "LEFT_EAR"},
-	{9, "RIGHT_EAR"},
-	{10, "LEFT_CLAVICLE"},
-	{11, "RIGHT_CLAVICLE"},
-	{12, "LEFT_SHOULDER"},
-	{13, "RIGHT_SHOULDER"},
-	{14, "LEFT_ELBOW"},
-	{15, "RIGHT_ELBOW"},
-	{16, "LEFT_WRIST"},
-	{17, "RIGHT_WRIST"},
-	{18, "LEFT_HIP"},
-	{19, "RIGHT_HIP"},
-	{20, "LEFT_KNEE"},
-	{21, "RIGHT_KNEE"},
-	{22, "LEFT_ANKLE"},
-	{23, "RIGHT_ANKLE"},
-	{24, "LEFT_BIG_TOE"},
-	{25, "RIGHT_BIG_TOE"},
-	{26, "LEFT_SMALL_TOE"},
-	{27, "RIGHT_SMALL_TOE"},
-	{28, "LEFT_HEEL"},
-	{29, "RIGHT_HEEL"},
-	{30, "LEFT_HAND_THUMB_4"},
-	{31, "RIGHT_HAND_THUMB_4"},
-	{32, "LEFT_HAND_INDEX_1"},
-	{33, "RIGHT_HAND_INDEX_1"},
-	{34, "LEFT_HAND_MIDDLE_4"},
-	{35, "RIGHT_HAND_MIDDLE_4"},
-	{36, "LEFT_HAND_PINKY_1"},
-	{37, "RIGHT_HAND_PINKY_1"},
-};
-
 static TMap<int, FName> Keypoints70 = TMap<int, FName>{
 	{0, "PELVIS"},
 	{1, "SPINE_1"},
@@ -267,6 +270,8 @@ static TMap<int, FName> Keypoints70 = TMap<int, FName>{
 	{69, "RIGHT_HAND_PINKY_4"}
 };
 
+#endif
+
 static TMap<int, FName> Keypoints34 = TMap<int, FName>{
 	{0, "PELVIS"},
 	{1, "NAVAL_SPINE"},

zed-livelink-fusion/Release/linux/ZEDFusionLiveLinkConfig.json

@@ -3,7 +3,8 @@
     {
       "resolution": "HD720",
       "fps": 30,
-      "depth_mode": "ULTRA"
+      "depth_mode": "ULTRA",
+      "grab_compute_capping_fps": 0
     },
     "BodyTrackingParameters":
     {

zed-livelink-fusion/Release/win64/ZEDFusionLiveLinkConfig.json

@@ -3,7 +3,8 @@
     {
       "resolution": "HD720",
       "fps": 30,
-      "depth_mode": "ULTRA"
+      "depth_mode": "ULTRA",
+      "grab_compute_capping_fps": 0
     },
     "BodyTrackingParameters":
     {

zed-livelink-fusion/Source/Private/SenderRunner.cpp

@@ -22,6 +22,7 @@ bool SenderRunner::open(SL_FusionConfiguration z_input, int cam_id, ZEDFusionCon
 	init_params.camera_resolution = zed_fusion_config.sender_resolution;
 	init_params.svo_real_time_mode = true;
     init_params.input_type = fusion_config.input.input_type;
+	init_params.grab_compute_capping_fps = zed_fusion_config.grab_compute_capping_fps;
 	std::cout << init_params.input_type << std::endl;
 	if (fusion_config.input.input_type == sl::INPUT_TYPE::USB)
 		init_params.camera_device_id = cam_id;

zed-livelink-fusion/Source/Private/main.cpp

@@ -172,11 +172,13 @@ int main(int argc, char **argv)
 		targetBone = targetBone38;
 		parentsIdx = parents38Idx;
 	}
+#if 0
 	else if (zed_fusion_config.sender_body_format == sl::BODY_FORMAT::BODY_70)
 	{
 		targetBone = targetBone70;
 		parentsIdx = parents70Idx;
 	}
+#endif
 	else if (zed_fusion_config.sender_body_format == sl::BODY_FORMAT::BODY_18)
 	{
 		std::cout << "Body 18 is not compatible. Please use Body 34/38 or 70" << std::endl;

zed-livelink-fusion/Source/Public/Utils/Util.h

@@ -114,9 +114,11 @@ sl::BODY_FORMAT toBodyFormat(std::string value)
 	else if (value == "BODY_38") {
 		format = sl::BODY_FORMAT::BODY_38;
 	}
+#if 0
 	else if (value == "BODY_70") {
 		format = sl::BODY_FORMAT::BODY_70;
 	}
+#endif
 	else
 		format = sl::BODY_FORMAT::BODY_34;
 
@@ -159,6 +161,7 @@ struct ZEDFusionConfig {
 	sl::BODY_KEYPOINTS_SELECTION sender_body_selection;
 	float sender_confidence;
 	float sender_max_range;
+	float grab_compute_capping_fps = 0;
 
 	void read(nlohmann::json& injson) {
 
@@ -173,6 +176,9 @@ struct ZEDFusionConfig {
 		sender_depth_mode = toDepthMode(injson["InitParameters"]["depth_mode"]);
 		std::cout << "depth_mode : " << sender_depth_mode << std::endl;
 
+		grab_compute_capping_fps = injson["InitParameters"]["grab_compute_capping_fps"];
+		std::cout << "grab_compute_capping_fps : " << grab_compute_capping_fps << std::endl;
+
 		sender_detection_model = toDetectionModel(injson["BodyTrackingParameters"]["detection_model"]);
 		std::cout << "detection_model : " << sender_detection_model << std::endl;
 

zed-livelink-fusion/Source/Public/ZEDStructs.h

@@ -100,6 +100,8 @@ struct SL_InitParameters
 
 	bool async_grab_camera_recovery;
 
+	float grab_compute_capping_fps;
+
 	SL_InitParameters() {
 		input_type = sl::INPUT_TYPE::USB;
 		camera_resolution = sl::RESOLUTION::HD720;
@@ -121,6 +123,7 @@ struct SL_InitParameters
 		enable_image_enhancement = true;
 		open_timeout_sec = 5.0f;
 		async_grab_camera_recovery = false;
+		grab_compute_capping_fps = 0;
 	}
 };
 

zed-livelink-fusion/ZEDFusionLiveLinkConfig.json

@@ -3,7 +3,8 @@
     {
       "resolution": "HD720",
       "fps": 30,
-      "depth_mode": "ULTRA"
+      "depth_mode": "ULTRA",
+      "grab_compute_capping_fps": 0
     },
     "BodyTrackingParameters":
     {

zed-livelink-mono/Releases/linux/ZEDLiveLinkConfig.json

@@ -5,7 +5,8 @@
     "input_path": 0,
     "resolution": "HD720",
     "fps": 60,
-    "depth_mode": "ULTRA"
+    "depth_mode": "ULTRA",
+	"grab_compute_capping_fps": 0
   },
   "PositionalTrackingParameters":
   {

zed-livelink-mono/Releases/win64/ZEDLiveLinkConfig.json

@@ -5,7 +5,8 @@
     "input_path": 0,
     "resolution": "HD720",
     "fps": 60,
-    "depth_mode": "ULTRA"
+    "depth_mode": "ULTRA",
+	"grab_compute_capping_fps": 0
   },
   "PositionalTrackingParameters":
   {

zed-livelink-mono/Source/Private/main.cpp

@@ -121,14 +121,16 @@ int main(int argc, char **argv)
 		targetBone = targetBone38;
 		parentsIdx = parents38Idx;
 	}
+#if 0
 	else if (zed_config.body_format == sl::BODY_FORMAT::BODY_70)
 	{
 		targetBone = targetBone70;
 		parentsIdx = parents70Idx;
 	}
+#endif
 	else if (zed_config.body_format == sl::BODY_FORMAT::BODY_18)
 	{
-		std::cout << "Body 18 is not compatible. Please use Body 34/38 or 70" << std::endl;
+		std::cout << "Body 18 is not compatible. Please use Body 34/38 " << std::endl;
 		return EXIT_FAILURE;
 	}
 
@@ -234,6 +236,7 @@ ERROR_CODE InitCamera(int argc, char **argv, ZEDConfig& config)
 	init_params.depth_mode = config.depth_mode;
 	init_params.sdk_verbose = 1;
 	init_params.input_type = config.input_type;
+	init_params.grab_compute_capping_fps = config.grab_compute_capping_fps;
 	//parseArgs(argc, argv, init_params, pathSVO, ip, port);
 	ERROR_CODE err = zed->Open(init_params, config.serial_number, pathSVO.c_str(), ip.c_str(), port);
 

zed-livelink-mono/Source/Public/Utils/Util.h

@@ -115,9 +115,11 @@ sl::BODY_FORMAT toBodyFormat(std::string value)
 	else if (value == "BODY_38") {
 		format = sl::BODY_FORMAT::BODY_38;
 	}
+#if 0
 	else if (value == "BODY_70") {
 		format = sl::BODY_FORMAT::BODY_70;
 	}
+#endif
 	else
 		format = sl::BODY_FORMAT::BODY_34;
 
@@ -163,6 +165,7 @@ struct ZEDConfig {
 	float max_range;
 	int minimum_keypoints_threshold;
 	float skeleton_smoothing;
+	float grab_compute_capping_fps = 0;
 
 	void read(nlohmann::json& injson) {
 
@@ -176,6 +179,9 @@ struct ZEDConfig {
 		depth_mode = toDepthMode(injson["InitParameters"]["depth_mode"]);
 		std::cout << "depth_mode : " << depth_mode << std::endl;
 
+		grab_compute_capping_fps = injson["InitParameters"]["grab_compute_capping_fps"];
+		std::cout << "grab_compute_capping_fps : " << grab_compute_capping_fps << std::endl;
+
 		enable_pose_smoothing = injson["PositionalTrackingParameters"]["enable_pose_smoothing"];
 		std::cout << "enable_pose_smoothing : " << enable_pose_smoothing << std::endl;
 
@@ -428,6 +434,7 @@ const TArray<int> parents38Idx = {
 	17
 };
 
+#if 0
 const TArray<FString> targetBone70 = {
 	"PELVIS",
 	"SPINE_1",
@@ -715,6 +722,8 @@ const TArray<int> parents70Idx = {
 	52,
 };
 
+#endif
+
 const TArray<FString> targetBone34 = {
 	"PELVIS",
 	"NAVAL_SPINE",

zed-livelink-mono/Source/Public/ZEDStructs.h

@@ -91,6 +91,15 @@ struct SL_InitParameters
 	float open_timeout_sec;
 
 	bool async_grab_camera_recovery;
+	/**
+	 Define a computation upper limit to the grab frequency.
+	 This can be useful to get a known constant fixed rate or limit the computation load while keeping a short exposure time by setting a high camera capture framerate.
+	 \n The value should be inferior to the InitParameters::camera_fps and strictly positive. It has no effect when reading an SVO file.
+	 \n This is an upper limit and won't make a difference if the computation is slower than the desired compute capping fps.
+	 \note Internally the grab function always tries to get the latest available image while respecting the desired fps as much as possible.
+	 default is 0.
+	 */
+	float grab_compute_capping_fps;
 
 	SL_InitParameters() {
 		input_type = sl::INPUT_TYPE::USB;
@@ -113,6 +122,7 @@ struct SL_InitParameters
 		enable_image_enhancement = true;
 		open_timeout_sec = 5.0f;
 		async_grab_camera_recovery = false;
+		grab_compute_capping_fps = 0;
 	}
 };
 
@@ -440,12 +450,12 @@ struct SL_BodyData
 	sl::float3 bounding_box[8];
 	sl::float3 head_bounding_box[8];
 	sl::float2 head_bounding_box_2d[4];
-	sl::float2 keypoint_2d[70];
-	sl::float3 keypoint[70];
-	float keypoint_confidence[70];
-	float keypoint_covariances[70][6];
-	sl::float3 local_position_per_joint[70];
-	sl::float4 local_orientation_per_joint[70];
+	sl::float2 keypoint_2d[38];
+	sl::float3 keypoint[38];
+	float keypoint_confidence[38];
+	float keypoint_covariances[38][6];
+	sl::float3 local_position_per_joint[38];
+	sl::float4 local_orientation_per_joint[38];
 	sl::float4 global_root_orientation;
 };
 

zed-livelink-mono/ZEDLiveLinkConfig.json

@@ -5,7 +5,8 @@
     "input_path": 0,
     "resolution": "HD720",
     "fps": 60,
-    "depth_mode": "ULTRA"
+    "depth_mode": "ULTRA",
+	"grab_compute_capping_fps": 0
   },
   "PositionalTrackingParameters":
   {