diff --git a/.github/workflows/build-natives.yml b/.github/workflows/build-natives.yml index b57bf46..e598080 100644 --- a/.github/workflows/build-natives.yml +++ b/.github/workflows/build-natives.yml @@ -12,7 +12,7 @@ jobs: build-linux-x86_64: runs-on: [ubuntu-22.04] container: - image: stereolabs/zed:5.2-devel-cuda12.8-ubuntu22.04 + image: stereolabs/zed:5.3-devel-cuda12.8-ubuntu22.04 steps: - name: Install dependencies run: | @@ -40,7 +40,7 @@ jobs: build-linux-l4t: runs-on: [ubuntu-22.04-arm] container: - image: stereolabs/zed:5.2-devel-l4t-r35.4 + image: stereolabs/zed:5.3-devel-l4t-r36.4 needs: [build-linux-x86_64] steps: - name: Install dependencies @@ -63,6 +63,9 @@ jobs: - name: Compile native library (arm64) run: | cd /work/zed-java-api + export CMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs:$CMAKE_LIBRARY_PATH + # Force the linker to ignore the fact that the stub is just a placeholder + export CXXFLAGS="-Wl,--allow-shlib-undefined" LINUX_CROSS_COMPILE_ARM=1 bash cppbuild.bash - name: Commit generated java and native libraries run: | @@ -103,8 +106,8 @@ jobs: - name: Install dependencies run: | python -m pip install gdown - gdown https://drive.google.com/uc?id=1bQ4x6fYodflO2yI6ekdKmT5HmdrF0W-j - tar -xvf ZEDSDK-Windows-5.2.0.tar.gz -C "C:\\Program Files (x86)" + gdown https://drive.google.com/uc?id=14EC5TVjwoGxp_lUAqFGycZYT9MZep2UN + tar -xvf ZEDSDK-Windows-5.3.0.tar.gz -C "C:\\Program Files (x86)" - uses: ilammy/msvc-dev-cmd@v1 with: vsversion: 2022 diff --git a/cppbuild.bash b/cppbuild.bash index dbb6dd3..b99e7ec 100755 --- a/cppbuild.bash +++ b/cppbuild.bash @@ -4,15 +4,15 @@ pushd . mkdir cppbuild cd cppbuild -if [ ! -f "zed-c-api-5.2.tar.gz" ]; then - curl -L -o zed-c-api-5.2.tar.gz https://codeload.github.com/stereolabs/zed-c-api/tar.gz/refs/tags/v5.2 +if [ ! -f "zed-c-api-5.3.0.tar.gz" ]; then + curl -L -o zed-c-api-5.3.0.tar.gz https://github.com/stereolabs/zed-c-api/archive/refs/tags/v5.3.0.tar.gz fi -tar -xvf zed-c-api-5.2.tar.gz +tar -xvf zed-c-api-5.3.0.tar.gz -cp ../patches/CMakeLists.txt.zed_c_api.patch zed-c-api-5.2/CMakeLists.txt.zed_c_api.patch +cp ../patches/CMakeLists.txt.zed_c_api.patch zed-c-api-5.3.0/CMakeLists.txt.zed_c_api.patch -cd zed-c-api-5.2 +cd zed-c-api-5.3.0 patch CMakeLists.txt CMakeLists.txt.zed_c_api.patch diff --git a/src/main/java/us/ihmc/zed/SL_InitParameters.java b/src/main/java/us/ihmc/zed/SL_InitParameters.java index 7302c0a..aa32579 100644 --- a/src/main/java/us/ihmc/zed/SL_InitParameters.java +++ b/src/main/java/us/ihmc/zed/SL_InitParameters.java @@ -62,9 +62,9 @@ therefore the number of cameras used at the same time can be limited by the conf \note Small resolutions offer higher framerate and lower computation time. \note In most situations, \ref SL_RESOLUTION_HD720 at 60 FPS is the best balance between image quality and framerate.

- Default:

+ Default: \ref SL_RESOLUTION_AUTO \note Available resolutions are listed here: \ref SL_RESOLUTION. */ public native @Cast("SL_RESOLUTION") int resolution(); public native SL_InitParameters resolution(int setter); @@ -282,7 +282,7 @@ This can be used for example when using a USB3.0 only extension cable (some fibe This will perform additional verification on the image to identify corrupted data. This verification is done in the grab function and requires some computations. If an issue is found, the grab function will output a warning as sl_ERROR_CODE_CORRUPTED_FRAME. This version doesn't detect frame tearing currently. - \n default: disabled + \n default: enabled */ public native @Cast("bool") boolean enable_image_validity_check(); public native SL_InitParameters enable_image_validity_check(boolean setter); @@ -299,4 +299,13 @@ This can be used for example when using a USB3.0 only extension cable (some fibe * - maximum_working_resolution = sl::Resolution(4, 4) -> (image_width/4) x (image_height/4) = quarter size */ public native @ByRef SL_Resolution maximum_working_resolution(); public native SL_InitParameters maximum_working_resolution(SL_Resolution setter); + + /** + \brief Decryption key required to open an SVO file that was recorded with encryption. +

+ Leave empty (all zeros) if the SVO file is not encrypted. + \note Must match the \ref SL_RecordingParameters::encryption_key used during recording. + */ + public native @Cast("unsigned char") byte svo_decryption_key(int i); public native SL_InitParameters svo_decryption_key(int i, byte setter); + @MemberGetter public native @Cast("unsigned char*") BytePointer svo_decryption_key(); } diff --git a/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java b/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java index 4a983cb..c7907b8 100644 --- a/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java +++ b/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java @@ -113,7 +113,7 @@ public class SL_PositionalTrackingParameters extends Pointer { \brief Positional tracking mode used. Can be used to improve accuracy in some types of scene at the cost of longer runtime. - \n Default: \ref SL_POSITIONAL_TRACKING_MODE_GEN_1 + \n Default: \ref SL_POSITIONAL_TRACKING_MODE_GEN_3 */ public native @Cast("SL_POSITIONAL_TRACKING_MODE") int mode(); public native SL_PositionalTrackingParameters mode(int setter); diff --git a/src/main/java/us/ihmc/zed/SL_RecordingParameters.java b/src/main/java/us/ihmc/zed/SL_RecordingParameters.java index 2b56da2..04f15c8 100644 --- a/src/main/java/us/ihmc/zed/SL_RecordingParameters.java +++ b/src/main/java/us/ihmc/zed/SL_RecordingParameters.java @@ -74,4 +74,21 @@ public class SL_RecordingParameters extends Pointer { \note \ref compression_mode, \ref target_framerate and \ref bitrate will be ignored in this mode. */ public native @Cast("bool") boolean transcode_streaming_input(); public native SL_RecordingParameters transcode_streaming_input(boolean setter); + + /** + \brief Encryption key used to protect the SVO file. +

+ Leave empty (all zeros) to record without encryption. + \note The same key must be provided in \ref SL_InitParameters::svo_decryption_key for playback. + */ + public native @Cast("unsigned char") byte encryption_key(int i); public native SL_RecordingParameters encryption_key(int i, byte setter); + @MemberGetter public native @Cast("unsigned char*") BytePointer encryption_key(); + + /** + \brief Encoding preset for H264/H265 compression. +

+ Controls the tradeoff between encoding speed and quality. + Default: \ref SL_SVO_ENCODING_PRESET_DEFAULT + */ + public native @Cast("SL_SVO_ENCODING_PRESET") int encoding_preset(); public native SL_RecordingParameters encoding_preset(int setter); } diff --git a/src/main/java/us/ihmc/zed/SL_VoxelMeasureParameters.java b/src/main/java/us/ihmc/zed/SL_VoxelMeasureParameters.java new file mode 100644 index 0000000..500a406 --- /dev/null +++ b/src/main/java/us/ihmc/zed/SL_VoxelMeasureParameters.java @@ -0,0 +1,60 @@ +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE + +package us.ihmc.zed; + +import org.bytedeco.cuda.cudart.CUctx_st; +import org.bytedeco.cuda.cudart.CUstream_st; +import java.nio.*; +import org.bytedeco.javacpp.*; +import org.bytedeco.javacpp.annotation.*; + +import static us.ihmc.zed.global.zed.*; + + +/** +\brief Parameters controlling voxel decimation in sl_retrieve_voxel_measure. + */ +@Properties(inherit = us.ihmc.zed.ZEDJavaAPIConfig.class) +public class SL_VoxelMeasureParameters extends Pointer { + static { Loader.load(); } + /** Default native constructor. */ + public SL_VoxelMeasureParameters() { super((Pointer)null); allocate(); } + /** Native array allocator. Access with {@link Pointer#position(long)}. */ + public SL_VoxelMeasureParameters(long size) { super((Pointer)null); allocateArray(size); } + /** Pointer cast constructor. Invokes {@link Pointer#Pointer(Pointer)}. */ + public SL_VoxelMeasureParameters(Pointer p) { super(p); } + private native void allocate(); + private native void allocateArray(long size); + @Override public SL_VoxelMeasureParameters position(long position) { + return (SL_VoxelMeasureParameters)super.position(position); + } + @Override public SL_VoxelMeasureParameters getPointer(long i) { + return new SL_VoxelMeasureParameters((Pointer)this).offsetAddress(i); + } + + /** + \brief Voxel grid cell size in coordinate_units defined in SL_InitParameters. + If <= 0, a 100 mm equivalent default is used. Clamped internally to [5 mm equivalent, max_depth_range]. + */ + public native float voxel_size(); public native SL_VoxelMeasureParameters voxel_size(float setter); + + /** + \brief Controls output point positions within each voxel. + If true, output point positions are the centroid of all points in each voxel. + If false, output positions are snapped to the voxel grid center. + */ + public native @Cast("bool") boolean centroid(); public native SL_VoxelMeasureParameters centroid(boolean setter); + + /** + \brief How voxel size adapts with depth. + Default: SL_VOXELIZATION_MODE_STEREO_UNCERTAINTY + */ + public native @Cast("SL_VOXELIZATION_MODE") int resolution_mode(); public native SL_VoxelMeasureParameters resolution_mode(int setter); + + /** + \brief Scale factor for depth-adaptive voxel growth. + Typical range: [0.01, 1.0]. Clamped internally to [0.01, 3.0]. + \note Only used when resolution_mode is not SL_VOXELIZATION_MODE_FIXED. + */ + public native float resolution_scale(); public native SL_VoxelMeasureParameters resolution_scale(float setter); +} diff --git a/src/main/java/us/ihmc/zed/global/zed.java b/src/main/java/us/ihmc/zed/global/zed.java index 6d62239..c97cde3 100644 --- a/src/main/java/us/ihmc/zed/global/zed.java +++ b/src/main/java/us/ihmc/zed/global/zed.java @@ -199,7 +199,9 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { /** The module needs a newer version of CUDA. */ SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION = 33, /** The drivers initialization has failed. When using gmsl cameras, try restarting with sudo systemctl restart zed_x_daemon.service */ - SL_ERROR_CODE_DRIVER_FAILURE = 34; + SL_ERROR_CODE_DRIVER_FAILURE = 34, + /** The camera configuration exceeds available PHY CSI bandwidth (GMSL). Reduce resolution/FPS or adjust hardware configuration. */ + SL_ERROR_CODE_CAMERA_EXCEEDS_BANDWIDTH = 35; /** \brief Lists available resolutions. @@ -227,8 +229,12 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { SL_RESOLUTION_SVGA = 7, /** 672*376 (x2) \n Available FPS: 15, 30, 60, 100*/ SL_RESOLUTION_VGA = 8, + /** 960x768 (x2) \n Available FPS: 30 \n Only supported with ZED-X HDR lineup (One/Stereo) */ + SL_RESOLUTION_XVGA = 9, + /** 640x512 (x2) \n Available FPS: 30 \n Only supported with ZED-X HDR lineup (One/Stereo) */ + SL_RESOLUTION_TXGA = 10, /** Select the resolution compatible with the camera:

*/ - SL_RESOLUTION_AUTO = 9; + SL_RESOLUTION_AUTO = 11; /** \brief Lists available units for measures. @@ -299,6 +305,8 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { SL_MODEL_ZED_X_HDR_MINI = 7, /** ZED X HDR Wide camera model */ SL_MODEL_ZED_X_HDR_MAX = 8, + /** ZED X Nano (18mm baseline) camera model with dual global shutter AR0234 sensor */ + SL_MODEL_ZED_X_NANO = 9, /** Virtual ZED X generated from 2 ZED X One */ SL_MODEL_VIRTUAL_ZED_X = 11, /** ZED X One with global shutter AR0234 sensor */ @@ -470,11 +478,58 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { SL_VIDEO_SETTINGS_EXPOSURE_COMPENSATION = 19, /** Level of denoising applied on both left and right images.\n Affected value should be between 0 and 100.\n Default value is 50. \note Only available for ZED X/X Mini cameras.*/ SL_VIDEO_SETTINGS_DENOISING = 20, - SL_VIDEO_SETTINGS_SCENE_ILLUMINANCE = 21, /** Level of illuminance of the scene. \n Can be used to determine the level of light in the scene and adjust settings accordingly. \note Read-only control. \n Available for ZED-X/Xmini cameras. \n Value provided in [0.1x]Lux for ZED-X / ZED-X Mini / ZED-XOne GS and ZED-XOne UHD cameras.*/ - SL_VIDEO_SETTINGS_LAST = 22; + /** Level of illuminance of the scene. \n Can be used to determine the level of light in the scene and adjust settings accordingly. \note Read-only control. \n Available for ZED-X/Xmini cameras. \n Value provided in [0.1x]Lux for ZED-X / ZED-X Mini / ZED-XOne GS and ZED-XOne UHD cameras.*/ + SL_VIDEO_SETTINGS_SCENE_ILLUMINANCE = 21, + /** AE anti-banding mode. \n Affected value should be between 0 and 3. \n 0: OFF, 1: AUTO, 2: 50Hz, 3: 60Hz. \note Only available for ZED X/X Mini cameras.*/ + SL_VIDEO_SETTINGS_AE_ANTIBANDING = 22, + SL_VIDEO_SETTINGS_LAST = 23; @MemberGetter public static native int SL_VIDEO_SETTINGS_VALUE_AUTO(); +/** +\brief Lists the available encoding presets for SVO recording. + */ +/** enum SL_SVO_ENCODING_PRESET */ +public static final int + /** Encoder default. Maps to NVENC P4 / V4L2 default. */ + SL_SVO_ENCODING_PRESET_DEFAULT = 0, + /** Fastest encoding, lowest quality. Maps to NVENC P1 / V4L2 ULTRAFAST. */ + SL_SVO_ENCODING_PRESET_ULTRAFAST = 1, + /** Fast encoding. Maps to NVENC P2 / V4L2 FAST. */ + SL_SVO_ENCODING_PRESET_FAST = 2, + /** Balanced speed/quality. Maps to NVENC P3 / V4L2 MEDIUM. */ + SL_SVO_ENCODING_PRESET_MEDIUM = 3, + /** Slow encoding, higher quality. Maps to NVENC P5 / V4L2 SLOW. */ + SL_SVO_ENCODING_PRESET_SLOW = 4, + SL_SVO_ENCODING_PRESET_LAST = 5; + +/** +\brief Selects the clock source used for all timestamps produced by the ZED SDK. + */ +/** enum SL_TIMESTAMP_CLOCK */ +public static final int + /** Timestamps use the system (wall-clock) time. Timestamps represent nanoseconds since Unix epoch. \warning Affected by NTP/PTP adjustments. */ + SL_TIMESTAMP_CLOCK_SYSTEM_CLOCK = 0, + /** Timestamps use a monotonic clock (CLOCK_MONOTONIC). Immune to system clock step adjustments. */ + SL_TIMESTAMP_CLOCK_MONOTONIC_CLOCK = 1, + SL_TIMESTAMP_CLOCK_LAST = 2; + +/** +\brief Controls how voxel size adapts with depth in sl_retrieve_voxel_measure. + */ +/** enum SL_VOXELIZATION_MODE */ +public static final int + /** No adaptation. voxel_size is used uniformly everywhere. */ + SL_VOXELIZATION_MODE_FIXED = 0, + /** Quadratic growth matching stereo depth noise: Z??/(f??B). Voxels grow larger at distance. */ + SL_VOXELIZATION_MODE_STEREO_UNCERTAINTY = 1, + /** Linear growth with depth Z. Suits sensors with linearly increasing noise (e.g. lidar, ToF). */ + SL_VOXELIZATION_MODE_LINEAR = 2, + SL_VOXELIZATION_MODE_LAST = 3; +// Targeting ../SL_VoxelMeasureParameters.java + + + /** \brief Lists retrievable measures. */ @@ -532,84 +587,88 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { SL_VIEW_LEFT_GRAY = 2, /** Right gray image. Each pixel contains 1 unsigned char.\n Type: \ref SL_MAT_TYPE_U8_C1 */ SL_VIEW_RIGHT_GRAY = 3, + /** Left NV12 unrectified image. */ + SL_VIEW_LEFT_NV12_UNRECTIFIED = 4, + /** Right NV12 unrectified image. */ + SL_VIEW_RIGHT_NV12_UNRECTIFIED = 5, /** Left BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_LEFT_UNRECTIFIED = 4, + SL_VIEW_LEFT_UNRECTIFIED = 6, /** Right BGRA unrectified image. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_RIGHT_UNRECTIFIED = 5, + SL_VIEW_RIGHT_UNRECTIFIED = 7, /** Left gray unrectified image. Each pixel contains 1 unsigned char.\n Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_LEFT_UNRECTIFIED_GRAY = 6, + SL_VIEW_LEFT_UNRECTIFIED_GRAY = 8, /** Right gray unrectified image. Each pixel contains 1 unsigned char.\n Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_RIGHT_UNRECTIFIED_GRAY = 7, + SL_VIEW_RIGHT_UNRECTIFIED_GRAY = 9, /** Left and right image (the image width is therefore doubled). Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_SIDE_BY_SIDE = 8, + SL_VIEW_SIDE_BY_SIDE = 10, /** Color rendering of the depth. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_DEPTH with \ref sl_retrieve_measure() to get depth values.*/ - SL_VIEW_DEPTH = 9, + SL_VIEW_DEPTH = 11, /** Color rendering of the depth confidence. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_CONFIDENCE with \ref sl_retrieve_measure() to get confidence values.*/ - SL_VIEW_CONFIDENCE = 10, + SL_VIEW_CONFIDENCE = 12, /** Color rendering of the normals. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_NORMALS with \ref sl_retrieve_measure() to get normal values.*/ - SL_VIEW_NORMALS = 11, + SL_VIEW_NORMALS = 13, /** Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_DEPTH_RIGHT with \ref sl_retrieve_measure() to get depth right values.*/ - SL_VIEW_DEPTH_RIGHT = 12, + SL_VIEW_DEPTH_RIGHT = 14, /** Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_NORMALS_RIGHT with \ref sl_retrieve_measure() to get normal right values.*/ - SL_VIEW_NORMALS_RIGHT = 13, + SL_VIEW_NORMALS_RIGHT = 15, /** Alias of \ref SL_VIEW_LEFT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_LEFT_BGRA = 14, + SL_VIEW_LEFT_BGRA = 16, /** Left image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_LEFT_BGR = 15, + SL_VIEW_LEFT_BGR = 17, /** Alias of \ref SL_VIEW_RIGHT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_RIGHT_BGRA = 16, + SL_VIEW_RIGHT_BGRA = 18, /** Right image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_RIGHT_BGR = 17, + SL_VIEW_RIGHT_BGR = 19, /** Alias of \ref SL_VIEW_LEFT_UNRECTIFIED.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_LEFT_UNRECTIFIED_BGRA = 18, + SL_VIEW_LEFT_UNRECTIFIED_BGRA = 20, /** Left unrectified image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_LEFT_UNRECTIFIED_BGR = 19, + SL_VIEW_LEFT_UNRECTIFIED_BGR = 21, /** Alias of \ref SL_VIEW_RIGHT_UNRECTIFIED.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_RIGHT_UNRECTIFIED_BGRA = 20, + SL_VIEW_RIGHT_UNRECTIFIED_BGRA = 22, /** Right unrectified image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_RIGHT_UNRECTIFIED_BGR = 21, + SL_VIEW_RIGHT_UNRECTIFIED_BGR = 23, /** Alias of \ref SL_VIEW_SIDE_BY_SIDE.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_SIDE_BY_SIDE_BGRA = 22, + SL_VIEW_SIDE_BY_SIDE_BGRA = 24, /** Side by side image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_SIDE_BY_SIDE_BGR = 23, + SL_VIEW_SIDE_BY_SIDE_BGR = 25, /** Side by side image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_SIDE_BY_SIDE_GRAY = 24, + SL_VIEW_SIDE_BY_SIDE_GRAY = 26, /** Alias of \ref VIEW "sl::VIEW::SIDE_BY_SIDE_UNRECTIFIED".\n Type: \ref MAT_TYPE "sl::MAT_TYPE::U8_C4" */ - SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_BGRA = 25, + SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_BGRA = 27, /** Side by side unrectified image in BGR pixel format: Type: \ref MAT_TYPE "sl::MAT_TYPE::U8_C3" */ - SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_BGR = 26, + SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_BGR = 28, /** Side by side unrectified image in gray scale: Type: \ref MAT_TYPE "sl::MAT_TYPE::U8_C1" */ - SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_GRAY = 27, + SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_GRAY = 29, /** Alias of \ref SL_VIEW_DEPTH.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_DEPTH_BGRA = 28, + SL_VIEW_DEPTH_BGRA = 30, /** Depth image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_DEPTH_BGR = 29, + SL_VIEW_DEPTH_BGR = 31, /** Depth image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_DEPTH_GRAY = 30, + SL_VIEW_DEPTH_GRAY = 32, /** Alias of \ref SL_VIEW_CONFIDENCE.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_CONFIDENCE_BGRA = 31, + SL_VIEW_CONFIDENCE_BGRA = 33, /** Confidence image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_CONFIDENCE_BGR = 32, + SL_VIEW_CONFIDENCE_BGR = 34, /** Confidence image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_CONFIDENCE_GRAY = 33, + SL_VIEW_CONFIDENCE_GRAY = 35, /** Alias of \ref SL_VIEW_NORMALS.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_NORMALS_BGRA = 34, + SL_VIEW_NORMALS_BGRA = 36, /** Normal image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_NORMALS_BGR = 35, + SL_VIEW_NORMALS_BGR = 37, /** Normal image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_NORMALS_GRAY = 36, + SL_VIEW_NORMALS_GRAY = 38, /** Alias of \ref SL_VIEW_DEPTH_RIGHT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_DEPTH_RIGHT_BGRA = 37, + SL_VIEW_DEPTH_RIGHT_BGRA = 39, /** Depth right image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_DEPTH_RIGHT_BGR = 38, + SL_VIEW_DEPTH_RIGHT_BGR = 40, /** Depth right image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_DEPTH_RIGHT_GRAY = 39, + SL_VIEW_DEPTH_RIGHT_GRAY = 41, /** Alias of \ref SL_VIEW_NORMALS_RIGHT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ - SL_VIEW_NORMALS_RIGHT_BGRA = 40, + SL_VIEW_NORMALS_RIGHT_BGRA = 42, /** Normal right image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ - SL_VIEW_NORMALS_RIGHT_BGR = 41, + SL_VIEW_NORMALS_RIGHT_BGR = 43, /** Normal right image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ - SL_VIEW_NORMALS_RIGHT_GRAY = 42; + SL_VIEW_NORMALS_RIGHT_GRAY = 44; /** \brief Lists the different states of object tracking. @@ -658,14 +717,24 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { */ /** enum SL_SPATIAL_MEMORY_STATUS */ public static final int - /** The positional tracking module is operating normally. */ + /** @deprecated This state is no longer in use for GEN_3. */ SL_MAP_TRACKING_STATUS_OK = 0, - /** The positional tracking module detected a loop and corrected its position. */ + /** Found a loop closure, relocalized within the area map or corrected after a sudden localization loss. */ SL_MAP_TRACKING_STATUS_LOOP_CLOSED = 1, - /** The positional tracking module is searching for recognizable areas in the global map to relocate. */ + /** @deprecated This state is no longer in use for GEN_3. */ SL_MAP_TRACKING_STATUS_SEARCHING = 2, - /** Spatial memory is disabled */ - SL_MAP_TRACKING_STATUS_OFF = 3; + /** Spatial memory is disabled. */ + SL_MAP_TRACKING_STATUS_OFF = 3, + /** Camera has not yet acquired enough memory or found its first loop closure. Keep moving the camera. */ + SL_MAP_TRACKING_STATUS_INITIALIZING = 4, + /** Camera is localized within the loaded area map. */ + SL_MAP_TRACKING_STATUS_KNOWN_MAP = 5, + /** Camera is mapping or getting out of area map bounds. */ + SL_MAP_TRACKING_STATUS_MAP_UPDATE = 6, + /** Localization cannot operate anymore (camera obstructed or sudden jumps). */ + SL_MAP_TRACKING_STATUS_LOST = 7, + /** Not enough memory to continue tracking. */ + SL_MAP_TRACKING_STATUS_NOT_ENOUGH_MEMORY_FOR_TRACKING = 8; /** \brief Lists the mode of positional tracking that can be used. @@ -1759,6 +1828,13 @@ the GNSSData parameter, which is currently set to UNKNOWN. To enhance the accura */ public static native @Cast("bool") boolean sl_create_camera(int camera_id); + /** + \brief Returns an opaque pointer to the ZEDController instance for the given camera. + @param camera_id : Id of the camera. + @return Pointer to the ZEDController, or nullptr if the camera has not been created yet. + */ + public static native Pointer sl_get_camera_handle(int camera_id); + /** \brief Reports if the camera has been successfully opened. @param camera_id : Id of the camera. @@ -1782,8 +1858,10 @@ the GNSSData parameter, which is currently set to UNKNOWN. To enhance the accura @return An error code giving information about the internal process. If \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" (0) is returned, the camera is ready to use. Every other code indicates an error and the program should be stopped. */ - public static native int sl_open_camera(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, @Cast("const char*") BytePointer path_svo, @Cast("const char*") BytePointer ip, int stream_port, int gmsl_port, @Cast("const char*") BytePointer output_file, @Cast("const char*") BytePointer opt_settings_path, @Cast("const char*") BytePointer opencv_calib_path); - public static native int sl_open_camera(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, String path_svo, String ip, int stream_port, int gmsl_port, String output_file, String opt_settings_path, String opencv_calib_path); + public static native int sl_open_camera(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, @Cast("const char*") BytePointer path_svo, @Cast("const char*") BytePointer ip, + int stream_port, int gmsl_port, @Cast("const char*") BytePointer output_file, @Cast("const char*") BytePointer opt_settings_path, @Cast("const char*") BytePointer opencv_calib_path); + public static native int sl_open_camera(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, String path_svo, String ip, + int stream_port, int gmsl_port, String output_file, String opt_settings_path, String opencv_calib_path); /** \brief Opens the ZED camera from the provided SL_InitParameters using its camera ID. @@ -1807,8 +1885,10 @@ the GNSSData parameter, which is currently set to UNKNOWN. To enhance the accura @param opencv_calib_path[optional] : openCV calibration file. @return An error code giving information about the internal process. If \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" (0) is returned, the camera is ready to use. Every other code indicates an error and the program should be stopped. */ - public static native int sl_open_camera_from_serial_number(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, @Cast("const char*") BytePointer output_file, @Cast("const char*") BytePointer opt_settings_path, @Cast("const char*") BytePointer opencv_calib_path); - public static native int sl_open_camera_from_serial_number(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, String output_file, String opt_settings_path, String opencv_calib_path); + public static native int sl_open_camera_from_serial_number(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, @Cast("const char*") BytePointer output_file, + @Cast("const char*") BytePointer opt_settings_path, @Cast("const char*") BytePointer opencv_calib_path); + public static native int sl_open_camera_from_serial_number(int camera_id, SL_InitParameters init_parameters, @Cast("const unsigned int") int serial_number, String output_file, + String opt_settings_path, String opencv_calib_path); /** \brief Opens the ZED camera from the provided SL_InitParameters using an SVO file. @@ -2000,11 +2080,34 @@ It corresponds to the structure given as argument to the sl_grab() function. @param bitrate : overrides default bitrate of the SVO file, in KBits/s. Only works if \ref SL_SVO_COMPRESSION_MODE is H264 or H265. @param target_fps : Defines the target framerate for the recording module. @param transcode : In case of streaming input, if set to false, it will avoid decoding/re-encoding and convert directly streaming input to a SVO file. - This saves a encoding session and can be especially useful on NVIDIA Geforce cards where the number of encoding session is limited. + This saves a encoding session and can be especially useful on NVIDIA Geforce cards where the number of encoding session is limited. @param encryption_key : An optional 256-bytes array to encrypt the SVO file. If the array is not + empty, the generated SVO file will be encrypted and will require the same key to be read. + @param encryption_key : Optional encryption key or passphrase to protect the SVO file. + @param encoding_preset : Encoding preset for the hardware encoder. @return An \ref SL_ERROR_CODE that defines if SVO file was successfully created and can be filled with images. */ - public static native int sl_enable_recording(int camera_id, @Cast("const char*") BytePointer filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode); - public static native int sl_enable_recording(int camera_id, String filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode); + public static native int sl_enable_recording(int camera_id, @Cast("const char*") BytePointer filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode, + @Cast("unsigned char*") BytePointer encryption_key, @Cast("SL_SVO_ENCODING_PRESET") int encoding_preset); + public static native int sl_enable_recording(int camera_id, String filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode, + @Cast("unsigned char*") ByteBuffer encryption_key, @Cast("SL_SVO_ENCODING_PRESET") int encoding_preset); + public static native int sl_enable_recording(int camera_id, @Cast("const char*") BytePointer filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode, + @Cast("unsigned char*") byte[] encryption_key, @Cast("SL_SVO_ENCODING_PRESET") int encoding_preset); + public static native int sl_enable_recording(int camera_id, String filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode, + @Cast("unsigned char*") BytePointer encryption_key, @Cast("SL_SVO_ENCODING_PRESET") int encoding_preset); + public static native int sl_enable_recording(int camera_id, @Cast("const char*") BytePointer filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode, + @Cast("unsigned char*") ByteBuffer encryption_key, @Cast("SL_SVO_ENCODING_PRESET") int encoding_preset); + public static native int sl_enable_recording(int camera_id, String filename, @Cast("SL_SVO_COMPRESSION_MODE") int compression_mode, @Cast("unsigned int") int bitrate, int target_fps, @Cast("bool") boolean transcode, + @Cast("unsigned char*") byte[] encryption_key, @Cast("SL_SVO_ENCODING_PRESET") int encoding_preset); + + /** + \brief Creates a file for recording the ZED's output, accepting the full \ref SL_RecordingParameters structure. +

+ Supports all recording options including encryption and encoding preset (added in SDK 5.3.0). + @param camera_id : Id of the camera instance. + @param recording_parameters : A structure containing all the recording parameters. + @return An \ref SL_ERROR_CODE that defines if the SVO file was successfully created. + */ + public static native int sl_enable_recording_from_params(int camera_id, SL_RecordingParameters recording_parameters); /** \brief Get the recording information. @@ -2309,6 +2412,30 @@ It corresponds to the structure given as argument to the sl_grab() function. */ public static native @Cast("unsigned long long") long sl_get_current_timestamp(int camera_id); + /** + \brief Sets the clock source used for all timestamps produced by the ZED SDK. + @param clock : The desired \ref SL_TIMESTAMP_CLOCK. + */ + public static native void sl_set_timestamp_clock(@Cast("SL_TIMESTAMP_CLOCK") int clock); + + /** + \brief Returns the active clock source used for timestamps. + @return The active \ref SL_TIMESTAMP_CLOCK. + */ + public static native @Cast("SL_TIMESTAMP_CLOCK") int sl_get_timestamp_clock(); + + /** + \brief Sets an upper bound on the step size of system-clock adjustments applied to SDK timestamps. + @param limit_ms : Maximum allowed clock step in milliseconds. + */ + public static native void sl_set_max_system_clock_step_ms(float limit_ms); + + /** + \brief Returns the current maximum system clock step limit in milliseconds. + @return The current limit in milliseconds. + */ + public static native float sl_get_max_system_clock_step_ms(); + /** \brief Returns the number of frames in the SVO file. @param camera_id : Id of the camera instance. @@ -2475,7 +2602,6 @@ It corresponds to the structure given as argument to the sl_grab() function. */ public static native @Cast("unsigned int") int sl_get_frame_dropped_count(int camera_id); - /** * \brief Gets the current status of the camera. * @param camera_id : Id of the camera instance. @@ -3017,14 +3143,30 @@ Vertex and triangles arrays must be at least of the sizes returned by update_mes @param measure_ptr : Pointer to the measure texture. @param type : Measure type (depth, confidence, xyz, etc). See \ref SL_MEASURE. @param mem : Whether the measure should be on CPU or GPU memory. See \ref SL_MEM. - @param width : Width of the texture in pixel. - @param height : Height of the texture in pixel. + @param width : Width of the texture in pixel. If set to 0, the camera resolution or SL_InitParameters.maximum_working_resolution will be taken, whichever is the smallest. + @param height : Height of the texture in pixel. If set to 0, the camera resolution or SL_InitParameters.maximum_working_resolution will be taken, whichever is the smallest. @return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the retrieve succeeded. @return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the view mode requires a module not enabled (VIEW::DEPTH with DEPTH_MODE::NONE for example). @return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_RESOLUTION" if the resolution is higher than one provided by getCameraInformation().camera_configuration.resolution. @return \ref SL_ERROR_CODE "SL_ERROR_CODE_FAILURE" if another error occurred. */ public static native int sl_retrieve_measure(int camera_id, Pointer measure_ptr, @Cast("SL_MEASURE") int type, @Cast("SL_MEM") int mem, int width, int height, Pointer custream); + + /** + \brief Retrieves a voxel-decimated point cloud from the ZED SDK. +

+ Applies spatial decimation (voxelization) to the depth map before returning the point cloud, + reducing point density while preserving structure. Useful for reducing data volume for downstream processing. + @param camera_id : Id of the camera instance. + @param measure_ptr : Pointer to the output Mat that will receive the voxel measure result. + @param type : Measure type. Must be a point-cloud type (e.g. \ref SL_MEASURE_XYZRGBA). + @param mem : Whether the output should be on CPU or GPU memory (\ref SL_MEM). + @param params : Voxelization parameters controlling voxel size and depth-adaptive mode. See \ref SL_VoxelMeasureParameters. + @param stream : CUDA stream to use for the computation (0 for default stream). + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the retrieve succeeded. + */ + public static native int sl_retrieve_voxel_measure(int camera_id, Pointer measure_ptr, @Cast("SL_MEASURE") int type, @Cast("SL_MEM") int mem, SL_VoxelMeasureParameters params, Pointer stream); + /** \brief Retrieves an image texture from the ZED SDK in a human-viewable format. @@ -3034,8 +3176,8 @@ Vertex and triangles arrays must be at least of the sizes returned by update_mes @param image_ptr : Pointer to the image texture. @param type : Image type (left RGB, right depth map, etc). See \ref SL_VIEW. @param mem : Whether the image should be on CPU or GPU memory (\ref SL_MEM). - @param width : Width of the texture in pixel. - @param height : Height of the texture in pixel. + @param width : Width of the texture in pixel. If set to 0, the camera resolution or SL_InitParameters.maximum_working_resolution will be taken, whichever is the smallest. + @param height : Height of the texture in pixel. If set to 0, the camera resolution or SL_InitParameters.maximum_working_resolution will be taken, whichever is the smallest. @return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if the retrieve succeeded. */ public static native int sl_retrieve_image(int camera_id, Pointer image_ptr, @Cast("SL_VIEW") int type, @Cast("SL_MEM") int mem, int width, int height, Pointer custream); diff --git a/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java b/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java index ad8cf33..6fb2ad5 100644 --- a/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java +++ b/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java @@ -13,7 +13,7 @@ public class ZEDJavaAPINativeLibrary implements NativeLibraryDescription { private static final int ZED_SDK_COMPATIBILITY_MAJOR_VERSION = 5; - private static final int ZED_SDK_COMPATIBILITY_MINOR_VERSION = 2; + private static final int ZED_SDK_COMPATIBILITY_MINOR_VERSION = 3; @Override public String getPackage(OperatingSystem os, Architecture arch) { diff --git a/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so b/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so index 2116051..82fb783 100755 Binary files a/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so and b/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so differ diff --git a/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so b/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so index f35b334..34f778c 100644 Binary files a/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so and b/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so differ diff --git a/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so b/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so index f35e931..b5c95d8 100755 Binary files a/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so and b/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so differ diff --git a/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so b/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so index 39dd5eb..def67f8 100644 Binary files a/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so and b/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so differ diff --git a/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll b/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll index e2afdc7..58833b9 100644 Binary files a/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll and b/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll differ diff --git a/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll b/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll index 4ef05d5..401c727 100644 Binary files a/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll and b/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll differ