Update for ZED SDK 3.8 (#515)

CMakeLists.txt

@@ -17,17 +17,20 @@ add_subdirectory("camera control/${TYPE}")
 add_subdirectory("depth sensing/${TYPE}")
 add_subdirectory("object detection/image viewer/${TYPE}")
 add_subdirectory("object detection/birds eye viewer/${TYPE}")
+add_subdirectory("camera roi/auto exposure/${TYPE}")
 add_subdirectory("body tracking/${TYPE}")
-add_subdirectory("plane detection/${TYPE}")
+add_subdirectory("plane detection/overview/${TYPE}")
 add_subdirectory("positional tracking/${TYPE}")
-add_subdirectory("spatial mapping/basic/${TYPE}")
+add_subdirectory("spatial mapping/overview/${TYPE}")
 add_subdirectory("svo recording/export/${TYPE}")
 add_subdirectory("svo recording/playback/${TYPE}")
 add_subdirectory("svo recording/recording/${TYPE}")
 if(${BUILD_CPP})
 	add_subdirectory("camera streaming/receiver/cpp")
 	add_subdirectory("camera streaming/sender/cpp")
 	add_subdirectory("spatial mapping/advanced point cloud mapping/cpp")
+	add_subdirectory("plane detection/floor plane/${TYPE}")
+	add_subdirectory("camera roi/sensing roi/${TYPE}")
 	add_subdirectory("other/cuda refocus")
 	add_subdirectory("other/opengl gpu interop")
 	add_subdirectory("other/multi camera/cpp")

body tracking/cpp/include/GLViewer.hpp

@@ -26,61 +26,6 @@
 
 using namespace sl;
 
-const std::vector<std::pair< BODY_PARTS, BODY_PARTS>> SKELETON_BONES
-{
-	{
-		BODY_PARTS::NOSE, BODY_PARTS::NECK
-	},
-	{
-		BODY_PARTS::NECK, BODY_PARTS::RIGHT_SHOULDER
-	},
-	{
-		BODY_PARTS::RIGHT_SHOULDER, BODY_PARTS::RIGHT_ELBOW
-	},
-	{
-		BODY_PARTS::RIGHT_ELBOW, BODY_PARTS::RIGHT_WRIST
-	},
-	{
-		BODY_PARTS::NECK, BODY_PARTS::LEFT_SHOULDER
-	},
-	{
-		BODY_PARTS::LEFT_SHOULDER, BODY_PARTS::LEFT_ELBOW
-	},
-	{
-		BODY_PARTS::LEFT_ELBOW, BODY_PARTS::LEFT_WRIST
-	},
-	{
-		BODY_PARTS::RIGHT_HIP, BODY_PARTS::RIGHT_KNEE
-	},
-	{
-		BODY_PARTS::RIGHT_KNEE, BODY_PARTS::RIGHT_ANKLE
-	},
-	{
-		BODY_PARTS::LEFT_HIP, BODY_PARTS::LEFT_KNEE
-	},
-	{
-		BODY_PARTS::LEFT_KNEE, BODY_PARTS::LEFT_ANKLE
-	},
-	{
-		BODY_PARTS::RIGHT_SHOULDER, BODY_PARTS::LEFT_SHOULDER
-	},
-	{
-		BODY_PARTS::RIGHT_HIP, BODY_PARTS::LEFT_HIP
-	},
-	{
-		BODY_PARTS::NOSE, BODY_PARTS::RIGHT_EYE
-	},
-	{
-		BODY_PARTS::RIGHT_EYE, BODY_PARTS::RIGHT_EAR
-	},
-	{
-		BODY_PARTS::NOSE, BODY_PARTS::LEFT_EYE
-	},
-	{
-		BODY_PARTS::LEFT_EYE, BODY_PARTS::LEFT_EAR
-	}
-};
-
 ///////////////////////////////////////////////////////////////////////////////////////////////
 
 class Shader {

body tracking/cpp/src/GLViewer.cpp

@@ -270,7 +270,7 @@ void GLViewer::updateData(sl::Mat &matXYZRGBA, std::vector<sl::ObjectData> &objs
 			auto clr_id = generateColorID(objs[i].id);
 			if (objs[i].keypoint.size()) {
 				if (body_format_ == sl::BODY_FORMAT::POSE_18) {
-					for (auto& limb : SKELETON_BONES) {
+					for (auto& limb : sl::BODY_BONES) {
 						sl::float3 kp_1 = objs[i].keypoint[getIdx(limb.first)];
 						sl::float3 kp_2 = objs[i].keypoint[getIdx(limb.second)];
 						float norm_1 = kp_1.norm();

body tracking/cpp/src/TrackingViewer.cpp

@@ -21,7 +21,7 @@ void render_2D(cv::Mat &left_display, sl::float2 img_scale, std::vector<sl::Obje
                 cv::Scalar color = generateColorID_u(obj.id);
 				if (body_format == sl::BODY_FORMAT::POSE_18) {
 					// skeleton bones
-					for (const auto& parts : SKELETON_BONES) {
+					for (const auto& parts : sl::BODY_BONES) {
 						auto kp_a = cvt(obj.keypoint_2d[getIdx(parts.first)], img_scale);
 						auto kp_b = cvt(obj.keypoint_2d[getIdx(parts.second)], img_scale);
 						if (roi_render.contains(kp_a) && roi_render.contains(kp_b))

camera roi/auto exposure/README.md

@@ -0,0 +1,7 @@
+# ZED SDK - Exposure ROI
+
+## This sample shows how to capture images with the ZED SDK and adjust camera settings.
+
+### Features
+ - Camera images are displayed on an OpenCV windows
+ - The auto exposure using an ROI can be changed

camera roi/auto exposure/cpp/CMakeLists.txt

@@ -0,0 +1,39 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
+PROJECT(ZED_ROI_Exposure)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+SET(CMAKE_BUILD_TYPE "Release")
+
+option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON)
+
+if (NOT LINK_SHARED_ZED AND MSVC)
+    message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows")
+endif()
+
+find_package(ZED 3 REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
+
+include_directories(${CUDA_INCLUDE_DIRS})
+include_directories(${ZED_INCLUDE_DIRS})
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+link_directories(${ZED_LIBRARY_DIR})
+link_directories(${OpenCV_LIBRARY_DIRS})
+link_directories(${CUDA_LIBRARY_DIRS})
+
+ADD_EXECUTABLE(${PROJECT_NAME} src/main.cpp)
+
+if (LINK_SHARED_ZED)
+    SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY})
+else()
+    SET(ZED_LIBS ${ZED_STATIC_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARY})
+endif()
+
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${ZED_LIBS} ${OpenCV_LIBRARIES})
+
+if(INSTALL_SAMPLES)
+    LIST(APPEND SAMPLE_LIST ${PROJECT_NAME})
+    SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE)
+endif()

camera roi/auto exposure/cpp/README.md

@@ -0,0 +1,26 @@
+# ZED SDK - Camera Control
+
+This sample shows how to capture images with the ZED SDK and adjust camera settings.
+
+## Getting Started
+ - Get the latest [ZED SDK](https://www.stereolabs.com/developers/release/)
+ - Check the [Documentation](https://www.stereolabs.com/docs/)
+
+## Build the program
+ - Build for [Windows](https://www.stereolabs.com/docs/app-development/cpp/windows/)
+ - Build for [Linux/Jetson](https://www.stereolabs.com/docs/app-development/cpp/linux/)
+
+## Run the program
+- Navigate to the build directory and launch the executable
+- Or open a terminal in the build directory and run the sample :
+
+      ./ZED_ROI_Exposure
+
+### Features
+
+ - Camera images are displayed on an OpenCV windows
+ - The auto exposure using an ROI can be changed
+
+
+## Support
+If you need assistance go to our Community site at https://community.stereolabs.com/