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ryanppetersryanppeters
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SDK v3.8 update
Updates plugin to SDK v3.8 to include the new parameters: - Region of interest (roi, roi-{x,y,w,h}) - set_gravity_as_origin - (pos-)depth_min_range - prediction_timeout_s - (od-)allow_reduced_precision_inference
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3 files changed

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‎README.md

Lines changed: 9 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -135,7 +135,11 @@ Most of the parameters follow the same name as the C++ API. Except that `_` is r
135135
* `depth-maximum-distance`: Maximum depth value
136136
* `depth-mode`: Depth Mode - {NONE (0), PERFORMANCE (1), QUALITY (2), ULTRA (3)}
137137
* `coordinate-system`: 3D Coordinate System - {Image (0) - Left handed, Y up (1) - Right handed, Y up (2) - Right handed, Z up (3) - Left handed, Z up (4) - Right handed, Z up, X fwd (5)}
138-
* `camera-disable-self-calib`: Disable the self calibration processing when the camera is opened - {TRUE, FALSE}
138+
* `roi`: Enable region of interest for SDK to focus on - {TRUE, FALSE}
139+
* `roi-x`: Region of interest focus left 'X' coordinate (-1 to not set ROI) - {-1,2208}
140+
* `roi-y`: Region of interest focus left 'Y' coordinate (-1 to not set ROI) - {-1,1242}
141+
* `roi-w`: Region of interest focus height (-1 to not set ROI) - {-1,2208}
142+
* `roi-h`: Region of interest focus height (-1 to not set ROI) - {-1,1242}
139143
* `depth-stabilization`: Enable depth stabilization - {TRUE, FALSE}
140144
* `confidence-threshold`: Specify the Depth Confidence Threshold - [0,100]
141145
* `texture-confidence-threshold`: Specify the Texture Confidence Threshold - [0,100]
@@ -148,6 +152,8 @@ Most of the parameters follow the same name as the C++ API. Except that `_` is r
148152
* `enable-imu-fusion`: This setting allows you to enable or disable IMU fusion. When set to false, only the optical odometry will be used - {TRUE, FALSE}
149153
* `enable-pose-smoothing`: This mode enables smooth pose correction for small drift correction - {TRUE, FALSE}
150154
* `set-floor-as-origin`: This mode initializes the tracking to be aligned with the floor plane to better position the camera in space.
155+
* `set-gravity-as-origin`: This mode initializes the tracking to override 2 of the 3 rotations from initial-world-transform using IMU gravity default: true - {TRUE, FALSE}
156+
* `pos-depth-min-range`: Sets the minimum depth used by the SDK for positional tracking (-1 for no minimum depth) - {-1, 65535}
151157
* `initial-world-transform-x`: X position of the camera in the world frame when the camera is started.
152158
* `initial-world-transform-y`: Y position of the camera in the world frame when the camera is started.
153159
* `initial-world-transform-z`: Z position of the camera in the world frame when the camera is started.
@@ -161,6 +167,8 @@ Most of the parameters follow the same name as the C++ API. Except that `_` is r
161167
* `od-confidence`: Minimum Detection Confidence - {0,100}
162168
* `od-max-range`: Maximum Detection Range - [-1,20000]
163169
* `od-body-fitting`: Set to TRUE to enable body fitting for skeleton tracking - {TRUE, FALSE}
170+
* `od-prediction-timeout-s`: Timeout when an object is not detected anymore for the SDK to predict its position for a short period before its state switched to SEARCHING (sec)
171+
* `od-allow-reduced-precision-inference`: Runs inference at a lower precision to improve runtime and memory usage - {TRUE, FALSE}
164172
* `brightness`: Image brightness - {0,8}
165173
* `contrast`: Image contrast - {0,8}
166174
* `hue`: Image hue - {0,11}

‎gst-zed-src/gstzedsrc.cpp

Lines changed: 174 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -63,6 +63,11 @@ enum
6363
PROP_DEPTH_MAX,
6464
PROP_DEPTH_MODE,
6565
PROP_DIS_SELF_CALIB,
66+
PROP_ROI,
67+
PROP_ROI_X,
68+
PROP_ROI_Y,
69+
PROP_ROI_W,
70+
PROP_ROI_H,
6671
//PROP_RIGHT_DEPTH_ENABLE,
6772
PROP_DEPTH_STAB,
6873
PROP_CONFIDENCE_THRESH,
@@ -76,6 +81,8 @@ enum
7681
PROP_POS_ENABLE_IMU_FUSION,
7782
PROP_POS_ENABLE_POSE_SMOOTHING,
7883
PROP_POS_SET_FLOOR_AS_ORIGIN,
84+
PROP_POS_SET_GRAVITY_AS_ORIGIN,
85+
PROP_POS_DEPTH_MIN_RANGE,
7986
PROP_POS_INIT_X,
8087
PROP_POS_INIT_Y,
8188
PROP_POS_INIT_Z,
@@ -91,6 +98,8 @@ enum
9198
PROP_OD_CONFIDENCE,
9299
PROP_OD_MAX_RANGE,
93100
PROP_OD_BODY_FITTING,
101+
PROP_OD_PREDICTION_TIMEOUT_S,
102+
PROP_OD_ALLOW_REDUCED_PRECISION_INFERENCE,
94103
PROP_BRIGHTNESS,
95104
PROP_CONTRAST,
96105
PROP_HUE,
@@ -176,6 +185,11 @@ typedef enum {
176185
#define DEFAULT_PROP_DIS_SELF_CALIB FALSE
177186
#define DEFAULT_PROP_DEPTH_STAB TRUE
178187
//#define DEFAULT_PROP_RIGHT_DEPTH FALSE
188+
#define DEFAULT_PROP_ROI FALSE
189+
#define DEFAULT_PROP_ROI_X -1
190+
#define DEFAULT_PROP_ROI_Y -1
191+
#define DEFAULT_PROP_ROI_W -1
192+
#define DEFAULT_PROP_ROI_H -1
179193

180194
// RUNTIME
181195
#define DEFAULT_PROP_CONFIDENCE_THRESH 50
@@ -191,6 +205,8 @@ typedef enum {
191205
#define DEFAULT_PROP_POS_ENABLE_IMU_FUSION TRUE
192206
#define DEFAULT_PROP_POS_ENABLE_POSE_SMOOTHING TRUE
193207
#define DEFAULT_PROP_POS_SET_FLOOR_AS_ORIGIN FALSE
208+
#define DEFAULT_PROP_POS_SET_GRAVITY_AS_ORIGIN TRUE
209+
#define DEFAULT_PROP_POS_DEPTH_MIN_RANGE -1.0
194210
#define DEFAULT_PROP_POS_INIT_X 0.0
195211
#define DEFAULT_PROP_POS_INIT_Y 0.0
196212
#define DEFAULT_PROP_POS_INIT_Z 0.0
@@ -207,6 +223,8 @@ typedef enum {
207223
#define DEFAULT_PROP_OD_CONFIDENCE 50.0
208224
#define DEFAULT_PROP_OD_MAX_RANGE DEFAULT_PROP_DEPTH_MAX
209225
#define DEFAULT_PROP_OD_BODY_FITTING TRUE
226+
#define DEFAULT_PROP_OD_PREDICTION_TIMEOUT_S 0.2
227+
#define DEFAULT_PROP_OD_ALLOW_REDUCED_PRECISION_INFERENCE FALSE
210228

211229
// CAMERA CONTROLS
212230
#define DEFAULT_PROP_BRIGHTNESS 4
@@ -750,8 +768,35 @@ static void gst_zedsrc_class_init (GstZedSrcClass * klass)
750768
"3D Coordinate System", GST_TYPE_ZED_COORD_SYS,
751769
DEFAULT_PROP_COORD_SYS,
752770
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
771+
772+
g_object_class_install_property( gobject_class, PROP_ROI,
773+
g_param_spec_boolean("roi", "Region of interest",
774+
"Enable region of interest filtering", DEFAULT_PROP_ROI,
775+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
776+
777+
g_object_class_install_property( gobject_class, PROP_ROI_X,
778+
g_param_spec_int("roi-x", "Region of interest top left 'X' coordinate",
779+
"Region of interest top left 'X' coordinate (-1 to not set ROI)",
780+
-1, 2208, DEFAULT_PROP_ROI_X,
781+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
782+
783+
g_object_class_install_property( gobject_class, PROP_ROI_Y,
784+
g_param_spec_int("roi-y", "Region of interest top left 'Y' coordinate",
785+
"Region of interest top left 'Y' coordinate (-1 to not set ROI)",
786+
-1, 1242, DEFAULT_PROP_ROI_Y,
787+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
753788

789+
g_object_class_install_property( gobject_class, PROP_ROI_W,
790+
g_param_spec_int("roi-w", "Region of interest width",
791+
"Region of intererst width (-1 to not set ROI)",
792+
-1, 2208, DEFAULT_PROP_ROI_W,
793+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
754794

795+
g_object_class_install_property( gobject_class, PROP_ROI_H,
796+
g_param_spec_int("roi-h", "Region of interest height",
797+
"Region of interest height (-1 to not set ROI)",
798+
-1, 1242, DEFAULT_PROP_ROI_H,
799+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
755800

756801
g_object_class_install_property( gobject_class, PROP_CONFIDENCE_THRESH,
757802
g_param_spec_int("confidence-threshold", "Depth Confidence Threshold",
@@ -828,6 +873,20 @@ static void gst_zedsrc_class_init (GstZedSrcClass * klass)
828873
DEFAULT_PROP_POS_SET_FLOOR_AS_ORIGIN,
829874
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
830875

876+
g_object_class_install_property( gobject_class, PROP_POS_SET_GRAVITY_AS_ORIGIN,
877+
g_param_spec_boolean("set-gravity-as-origin", "Set gravity as pose origin",
878+
"This setting allows you to override of 2 of the 3 rotations from"
879+
"initial-world-transform using the IMU gravity default: true",
880+
DEFAULT_PROP_POS_SET_GRAVITY_AS_ORIGIN,
881+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
882+
883+
g_object_class_install_property( gobject_class, PROP_POS_DEPTH_MIN_RANGE,
884+
g_param_spec_float("pos-depth-min-range", "Set depth minimum range",
885+
"This setting allows you to change the minmum depth used by the"
886+
"SDK for Positional Tracking.",
887+
-1, 65535, DEFAULT_PROP_POS_DEPTH_MIN_RANGE,
888+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
889+
831890
g_object_class_install_property( gobject_class, PROP_POS_INIT_X,
832891
g_param_spec_float("initial-world-transform-x",
833892
"Initial X coordinate",
@@ -877,6 +936,7 @@ static void gst_zedsrc_class_init (GstZedSrcClass * klass)
877936
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
878937

879938

939+
880940
g_object_class_install_property( gobject_class, PROP_OD_ENABLE,
881941
g_param_spec_boolean("od-enabled", "Object Detection enable",
882942
"Set to TRUE to enable Object Detection",
@@ -924,6 +984,18 @@ static void gst_zedsrc_class_init (GstZedSrcClass * klass)
924984
"Set to TRUE to enable body fitting for skeleton tracking",
925985
DEFAULT_PROP_OD_BODY_FITTING,
926986
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
987+
988+
g_object_class_install_property( gobject_class, PROP_OD_PREDICTION_TIMEOUT_S,
989+
g_param_spec_float("od-prediction-timeout-s", "Object detection prediction timeout (sec)",
990+
"Object prediction timeout (sec)", 0.0f, 1.0f, DEFAULT_PROP_OD_PREDICTION_TIMEOUT_S,
991+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
992+
993+
g_object_class_install_property( gobject_class, PROP_OD_ALLOW_REDUCED_PRECISION_INFERENCE,
994+
g_param_spec_boolean("od-allow-reduced-precision-inference", "Allow inference at reduced precision",
995+
"Set to TRUE to allow inference to run at a lower precision to improve runtime",
996+
DEFAULT_PROP_OD_ALLOW_REDUCED_PRECISION_INFERENCE,
997+
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
998+
927999

9281000
g_object_class_install_property( gobject_class, PROP_BRIGHTNESS,
9291001
g_param_spec_int("brightness", "Camera control: brightness",
@@ -1049,6 +1121,11 @@ static void gst_zedsrc_init (GstZedSrc * src)
10491121
src->texture_confidence_threshold = DEFAULT_PROP_TEXTURE_CONF_THRESH;
10501122
src->measure3D_reference_frame = DEFAULT_PROP_3D_REF_FRAME;
10511123
src->sensing_mode = DEFAULT_PROP_SENSING_MODE;
1124+
src->roi = DEFAULT_PROP_ROI;
1125+
src->roi_x = DEFAULT_PROP_ROI_X;
1126+
src->roi_y = DEFAULT_PROP_ROI_Y;
1127+
src->roi_w = DEFAULT_PROP_ROI_W;
1128+
src->roi_h = DEFAULT_PROP_ROI_H;
10521129

10531130
src->pos_tracking = DEFAULT_PROP_POS_TRACKING;
10541131
src->camera_static = DEFAULT_PROP_CAMERA_STATIC;
@@ -1057,6 +1134,8 @@ static void gst_zedsrc_init (GstZedSrc * src)
10571134
src->enable_imu_fusion = DEFAULT_PROP_POS_ENABLE_IMU_FUSION;
10581135
src->enable_pose_smoothing = DEFAULT_PROP_POS_ENABLE_POSE_SMOOTHING;
10591136
src->set_floor_as_origin = DEFAULT_PROP_POS_SET_FLOOR_AS_ORIGIN;
1137+
src->set_gravity_as_origin = DEFAULT_PROP_POS_SET_GRAVITY_AS_ORIGIN;
1138+
src->depth_min_range = DEFAULT_PROP_POS_DEPTH_MIN_RANGE;
10601139
src->init_pose_x = DEFAULT_PROP_POS_INIT_X;
10611140
src->init_pose_y = DEFAULT_PROP_POS_INIT_Y;
10621141
src->init_pose_z = DEFAULT_PROP_POS_INIT_Z;
@@ -1072,6 +1151,8 @@ static void gst_zedsrc_init (GstZedSrc * src)
10721151
src->od_det_conf = DEFAULT_PROP_OD_CONFIDENCE;
10731152
src->od_max_range = DEFAULT_PROP_OD_MAX_RANGE;
10741153
src->od_body_fitting = DEFAULT_PROP_OD_BODY_FITTING;
1154+
src->od_prediction_timeout_s = DEFAULT_PROP_OD_PREDICTION_TIMEOUT_S;
1155+
src->od_allow_reduced_precision_inference = DEFAULT_PROP_OD_ALLOW_REDUCED_PRECISION_INFERENCE;
10751156

10761157
src->brightness = DEFAULT_PROP_BRIGHTNESS;
10771158
src->contrast = DEFAULT_PROP_CONTRAST;
@@ -1172,6 +1253,21 @@ void gst_zedsrc_set_property (GObject * object, guint property_id,
11721253
case PROP_SENSING_MODE:
11731254
src->sensing_mode = g_value_get_enum(value);
11741255
break;
1256+
case PROP_ROI:
1257+
src->roi = g_value_get_boolean(value);
1258+
break;
1259+
case PROP_ROI_X:
1260+
src->roi_x = g_value_get_int(value);
1261+
break;
1262+
case PROP_ROI_Y:
1263+
src->roi_y = g_value_get_int(value);
1264+
break;
1265+
case PROP_ROI_W:
1266+
src->roi_w = g_value_get_int(value);
1267+
break;
1268+
case PROP_ROI_H:
1269+
src->roi_h = g_value_get_int(value);
1270+
break;
11751271
case PROP_POS_TRACKING:
11761272
src->pos_tracking = g_value_get_boolean(value);
11771273
break;
@@ -1194,6 +1290,12 @@ void gst_zedsrc_set_property (GObject * object, guint property_id,
11941290
case PROP_POS_ENABLE_POSE_SMOOTHING:
11951291
src->enable_pose_smoothing = g_value_get_boolean(value);
11961292
break;
1293+
case PROP_POS_SET_GRAVITY_AS_ORIGIN:
1294+
src->set_gravity_as_origin = g_value_get_boolean(value);
1295+
break;
1296+
case PROP_POS_DEPTH_MIN_RANGE:
1297+
src->depth_min_range = g_value_get_float(value);
1298+
break;
11971299
case PROP_POS_INIT_X:
11981300
src->init_pose_x = g_value_get_float(value);
11991301
break;
@@ -1236,6 +1338,12 @@ void gst_zedsrc_set_property (GObject * object, guint property_id,
12361338
case PROP_OD_BODY_FITTING:
12371339
src->od_body_fitting = g_value_get_boolean(value);
12381340
break;
1341+
case PROP_OD_PREDICTION_TIMEOUT_S:
1342+
src->od_prediction_timeout_s = g_value_get_float(value);
1343+
break;
1344+
case PROP_OD_ALLOW_REDUCED_PRECISION_INFERENCE:
1345+
src->od_allow_reduced_precision_inference = g_value_get_boolean(value);
1346+
break;
12391347
case PROP_BRIGHTNESS:
12401348
src->brightness = g_value_get_int(value);
12411349
break;
@@ -1366,6 +1474,21 @@ gst_zedsrc_get_property (GObject * object, guint property_id,
13661474
case PROP_SENSING_MODE:
13671475
g_value_set_enum( value, src->sensing_mode);
13681476
break;
1477+
case PROP_ROI:
1478+
g_value_set_boolean( value, src->roi);
1479+
break;
1480+
case PROP_ROI_X:
1481+
g_value_set_int( value, src->roi_x);
1482+
break;
1483+
case PROP_ROI_Y:
1484+
g_value_set_int( value, src->roi_y);
1485+
break;
1486+
case PROP_ROI_W:
1487+
g_value_set_int( value, src->roi_w);
1488+
break;
1489+
case PROP_ROI_H:
1490+
g_value_set_int( value, src->roi_h);
1491+
break;
13691492
case PROP_POS_TRACKING:
13701493
g_value_set_boolean( value, src->pos_tracking );
13711494
break;
@@ -1387,6 +1510,12 @@ gst_zedsrc_get_property (GObject * object, guint property_id,
13871510
case PROP_POS_ENABLE_POSE_SMOOTHING:
13881511
g_value_set_boolean( value, src->enable_pose_smoothing );
13891512
break;
1513+
case PROP_POS_SET_GRAVITY_AS_ORIGIN:
1514+
g_value_set_boolean( value, src->set_gravity_as_origin);
1515+
break;
1516+
case PROP_POS_DEPTH_MIN_RANGE:
1517+
g_value_set_float( value, src->depth_min_range);
1518+
break;
13901519
case PROP_POS_INIT_X:
13911520
g_value_set_float( value, src->init_pose_x );
13921521
break;
@@ -1429,6 +1558,12 @@ gst_zedsrc_get_property (GObject * object, guint property_id,
14291558
case PROP_OD_BODY_FITTING:
14301559
g_value_set_boolean( value, src->od_body_fitting );
14311560
break;
1561+
case PROP_OD_PREDICTION_TIMEOUT_S:
1562+
g_value_set_float( value, src->od_prediction_timeout_s);
1563+
break;
1564+
case PROP_OD_ALLOW_REDUCED_PRECISION_INFERENCE:
1565+
g_value_set_boolean( value, src->od_allow_reduced_precision_inference);
1566+
break;
14321567

14331568
case PROP_BRIGHTNESS:
14341569
g_value_set_int( value, src->brightness);
@@ -1751,6 +1886,37 @@ static gboolean gst_zedsrc_start( GstBaseSrc * bsrc )
17511886
GST_INFO(" * Depth Texture Confidence threshold: %d", src->texture_confidence_threshold );
17521887
GST_INFO(" * 3D Reference Frame: %s", sl::toString((sl::COORDINATE_SYSTEM)src->measure3D_reference_frame).c_str());
17531888
GST_INFO(" * Sensing Mode: %s", sl::toString((sl::SENSING_MODE)src->sensing_mode).c_str());
1889+
1890+
1891+
if (src->roi) {
1892+
if (src->roi_x != -1 &&
1893+
src->roi_y != -1 &&
1894+
src->roi_w != -1 &&
1895+
src->roi_h != -1) {
1896+
int roi_x_end = src->roi_x + src->roi_w;
1897+
int roi_y_end = src->roi_y + src->roi_y;
1898+
sl::Resolution resolution = sl::getResolution(init_params.camera_resolution);
1899+
if (src->roi_x < 0 || src->roi_x >= resolution.width ||
1900+
src->roi_y < 0 || src->roi_y >= resolution.height ||
1901+
roi_x_end >= resolution.width || roi_y_end >= resolution.height) {
1902+
sl::Mat roi_mask(resolution, sl::MAT_TYPE::U8_C1);
1903+
roi_mask.setTo(0.f);
1904+
for (int i = src->roi_x; i < roi_x_end; i++)
1905+
for (int j = src->roi_y; j < roi_y_end; j++)
1906+
roi_mask.setValue(i, j, 1.f);
1907+
1908+
GST_INFO(" * ROI mask: (%d,%d)-%dx%d",
1909+
src->roi_x, src->roi_y, src->roi_w, src->roi_h);
1910+
1911+
ret = src->zed.setRegionOfInterest(roi_mask);
1912+
if (ret!=sl::ERROR_CODE::SUCCESS) {
1913+
GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND,
1914+
("Failed to set region of interest, '%s'", sl::toString(ret).c_str() ), (NULL));
1915+
return FALSE;
1916+
}
1917+
}
1918+
}
1919+
}
17541920
// <---- Runtime parameters
17551921

17561922
// ----> Positional tracking
@@ -1772,6 +1938,10 @@ static gboolean gst_zedsrc_start( GstBaseSrc * bsrc )
17721938
GST_INFO(" * Pose smoothing: %s", (pos_trk_params.enable_pose_smoothing?"TRUE":"FALSE"));
17731939
pos_trk_params.set_floor_as_origin = (src->set_floor_as_origin==TRUE);
17741940
GST_INFO(" * Floor as origin: %s", (pos_trk_params.set_floor_as_origin?"TRUE":"FALSE"));
1941+
pos_trk_params.set_gravity_as_origin = (src->set_gravity_as_origin==TRUE);
1942+
GST_INFO(" * Gravity as origin: %s", (pos_trk_params.set_gravity_as_origin?"TRUE":"FALSE"));
1943+
pos_trk_params.depth_min_range = src->depth_min_range;
1944+
GST_INFO(" * Depth min range: %f", (pos_trk_params.depth_min_range));
17751945

17761946
sl::Translation init_pos(src->init_pose_x,src->init_pose_y, src->init_pose_z);
17771947
sl::Rotation init_or;
@@ -1809,6 +1979,10 @@ static gboolean gst_zedsrc_start( GstBaseSrc * bsrc )
18091979
GST_INFO(" * Max range: %g", od_params.max_range);
18101980
od_params.enable_body_fitting = src->od_body_fitting;
18111981
GST_INFO(" * Body fitting: %s", (od_params.enable_body_fitting?"TRUE":"FALSE"));
1982+
od_params.prediction_timeout_s = src->od_prediction_timeout_s;
1983+
GST_INFO(" * Prediction timeout (sec): %f", (od_params.prediction_timeout_s));
1984+
od_params.allow_reduced_precision_inference = src->od_allow_reduced_precision_inference;
1985+
GST_INFO(" * Allow reduced precision inference: %s", (od_params.allow_reduced_precision_inference?"TRUE":"FALSE"));
18121986

18131987
ret = src->zed.enableObjectDetection( od_params );
18141988
if (ret!=sl::ERROR_CODE::SUCCESS) {

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