Merge pull request #60 from stereolabs/add_zedcameraone_support

Add zedcameraone support

Author: Myzhar

.vscode/settings.json

@@ -91,7 +91,14 @@
     "__tree": "cpp",
     "queue": "cpp",
     "stack": "cpp",
-    "locale": "cpp"
+    "locale": "cpp",
+    "*.ipp": "cpp",
+    "ranges": "cpp",
+    "__node_handle": "cpp",
+    "filesystem": "cpp",
+    "__bit_reference": "cpp",
+    "__functional_03": "cpp",
+    "__mutex_base": "cpp"
   },
   "C_Cpp.errorSquiggles": "disabled",
   "editor.tabSize": 4

CHANGELOG.rst

@@ -1,6 +1,14 @@
 LATEST CHANGES
 ==============
 
+2024-12-03
+----------
+- The `zedxonesrc` element now uses the ZED SDK object `sl::CameraOne` instead of the `zedx-one-capture` library
+  
+ * ZED X One images are now automatically rectified
+ * ZED X One IMU data can be retrieved as image metadata
+ * ZED X One 4K supports HDR mode
+
 2024-04-23
 ----------
 - Add new `zedxonesrc` element to get ZED X One color stream and control the camera

README.md

@@ -40,13 +40,16 @@ struct _GstZedDemux {
 
     GstPad *sinkpad;
     GstPad *srcpad_left;
+    GstPad *srcpad_mono;
     GstPad *srcpad_aux;
     GstPad *srcpad_data;
 
     GstCaps *caps_left;
+    GstCaps *caps_mono;
     GstCaps *caps_aux;
 
     gboolean is_depth;
+    gboolean is_mono;
     gboolean stream_data;
 };
 

gst-zed-demux/gstzeddemux.cpp

@@ -2165,8 +2165,9 @@ static gboolean gst_zedsrc_calculate_caps(GstZedSrc *src) {
 }
 
 static gboolean gst_zedsrc_start(GstBaseSrc *bsrc) {
-#if (ZED_SDK_MAJOR_VERSION < 4)
-    GST_ELEMENT_ERROR(src, LIBRARY, FAILED, ("Wrong ZED SDK version. SDK v4.0.x required "),
+#if (ZED_SDK_MAJOR_VERSION != 4 && ZED_SDK_MINOR_VERSION != 2 && ZED_SDK_SUB_VERSION != 2)
+    GST_ELEMENT_ERROR(src, LIBRARY, FAILED, 
+    ("Wrong ZED SDK version. SDK v4.2.2 required "),
                       (NULL));
 #endif
 
@@ -2724,26 +2725,36 @@ static GstFlowReturn gst_zedsrc_fill(GstPushSrc *psrc, GstBuffer *buf) {
     sl::Mat depth_data;
 
     // ----> Mats retrieving
+    auto check_ret = [src](sl::ERROR_CODE ret) {
+        if (ret != sl::ERROR_CODE::SUCCESS) {
+            GST_ELEMENT_ERROR(src, RESOURCE, FAILED,
+                            ("Grabbing failed with error: '%s' - %s", sl::toString(ret).c_str(),
+                            sl::toVerbose(ret).c_str()),
+                            (NULL));
+            return false;
+        }
+        return true;
+    };
+
     if (src->stream_type == GST_ZEDSRC_ONLY_LEFT) {
         ret = src->zed.retrieveImage(left_img, sl::VIEW::LEFT, sl::MEM::CPU);
+        if(!check_ret(ret)) return GST_FLOW_ERROR;
     } else if (src->stream_type == GST_ZEDSRC_ONLY_RIGHT) {
         ret = src->zed.retrieveImage(left_img, sl::VIEW::RIGHT, sl::MEM::CPU);
+        if(!check_ret(ret)) return GST_FLOW_ERROR;
     } else if (src->stream_type == GST_ZEDSRC_LEFT_RIGHT) {
         ret = src->zed.retrieveImage(left_img, sl::VIEW::LEFT, sl::MEM::CPU);
+        if(!check_ret(ret)) return GST_FLOW_ERROR;
         ret = src->zed.retrieveImage(right_img, sl::VIEW::RIGHT, sl::MEM::CPU);
+        if(!check_ret(ret)) return GST_FLOW_ERROR;
     } else if (src->stream_type == GST_ZEDSRC_DEPTH_16) {
         ret = src->zed.retrieveMeasure(depth_data, sl::MEASURE::DEPTH_U16_MM, sl::MEM::CPU);
+        if(!check_ret(ret)) return GST_FLOW_ERROR;
     } else if (src->stream_type == GST_ZEDSRC_LEFT_DEPTH) {
         ret = src->zed.retrieveImage(left_img, sl::VIEW::LEFT, sl::MEM::CPU);
+        if(!check_ret(ret)) return GST_FLOW_ERROR;
         ret = src->zed.retrieveMeasure(depth_data, sl::MEASURE::DEPTH, sl::MEM::CPU);
-    }
-
-    if (ret != sl::ERROR_CODE::SUCCESS) {
-        GST_ELEMENT_ERROR(src, RESOURCE, FAILED,
-                          ("Grabbing failed with error: '%s' - %s", sl::toString(ret).c_str(),
-                           sl::toVerbose(ret).c_str()),
-                          (NULL));
-        return GST_FLOW_ERROR;
+        if(!check_ret(ret)) return GST_FLOW_ERROR;
     }
     // <---- Mats retrieving
 
@@ -2910,7 +2921,7 @@ static GstFlowReturn gst_zedsrc_fill(GstPushSrc *psrc, GstBuffer *buf) {
         rt_params.object_class_detection_confidence_threshold = class_det_conf;
 
         sl::Objects det_objs;
-        sl::ERROR_CODE ret = src->zed.retrieveObjects(det_objs, rt_params, OD_INSTANCE_MODULE_ID);
+        ret = src->zed.retrieveObjects(det_objs, rt_params, OD_INSTANCE_MODULE_ID);
 
         if (ret == sl::ERROR_CODE::SUCCESS) {
             if (det_objs.is_new) {
@@ -3004,7 +3015,7 @@ static GstFlowReturn gst_zedsrc_fill(GstPushSrc *psrc, GstBuffer *buf) {
         rt_params.skeleton_smoothing = src->bt_rt_skel_smoothing;
 
         sl::Bodies bodies;
-        sl::ERROR_CODE ret = src->zed.retrieveBodies(bodies, rt_params, BT_INSTANCE_MODULE_ID);
+        ret = src->zed.retrieveBodies(bodies, rt_params, BT_INSTANCE_MODULE_ID);
 
         if (ret == sl::ERROR_CODE::SUCCESS) {
             if (bodies.is_new) {

gst-zed-demux/gstzeddemux.h

@@ -14,9 +14,21 @@ endif()
 
 add_definitions(-Werror=return-type)
 
-set(libname gstzedxonesrc)
+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()
+
+include_directories(${CUDA_INCLUDE_DIRS})
+include_directories(${ZED_INCLUDE_DIRS})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+link_directories(${ZED_LIBRARY_DIR})
+link_directories(${CUDA_LIBRARY_DIRS})
+link_directories(${LIBRARY_INSTALL_DIR})
 
-add_subdirectory(lib)
+set(libname gstzedxonesrc)
 
 set(SOURCES
   gstzedxonesrc.cpp
@@ -26,10 +38,6 @@ set(HEADERS
   gstzedxonesrc.h
 )
 
-link_directories(
-  ${LIBRARY_INSTALL_DIR}
-)
-
 message( " * ${libname} plugin added")
 
 add_library(${libname} MODULE
@@ -47,7 +55,14 @@ else()
   add_definitions(-O2)
 endif()
 
-add_dependencies (${libname} zedarguscapture)
+SET(ZED_LIBS
+    ${ZED_LIBRARIES}
+    ${CUDA_CUDA_LIBRARY}
+    ${CUDA_CUDART_LIBRARY}
+    ${CUDA_NPP_LIBRARIES_ZED}
+)
+
+add_dependencies (${libname} gstzedmeta)
 
 target_link_libraries (
   ${libname} LINK_PUBLIC
@@ -56,7 +71,8 @@ target_link_libraries (
   ${GSTREAMER_LIBRARY}
   ${GSTREAMER_BASE_LIBRARY}
   ${GSTREAMER_VIDEO_LIBRARY}
-  ${CMAKE_CURRENT_BINARY_DIR}/lib/libzedarguscapture.so  
+  ${ZED_LIBS}
+  ${CMAKE_CURRENT_BINARY_DIR}/../gst-zed-meta/libgstzedmeta.so
 )
 
 install(TARGETS ${libname} LIBRARY DESTINATION ${PLUGIN_INSTALL_DIR})