3.7 sample upgrade (stereolabs#483)

Sj-Amani · May 11, 2022 · 3cd9c19 · 3cd9c19
1 parent fa4bf50
commit 3cd9c19
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Showing 154 changed files with 4,111 additions and 675 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.5)
 PROJECT(SamplesAndTutos)
 
 OPTION(INSTALL_SAMPLES "Once build, deploy samples into bin" ON)
@@ -10,6 +10,8 @@ else()
     SET(TYPE "csharp")
 endif()
 
+SET(CMAKE_BUILD_TYPE "Release")
+
 SET(SAMPLE_LIST "")
 add_subdirectory("camera control/${TYPE}")
 add_subdirectory("depth sensing/${TYPE}")
@@ -34,4 +36,4 @@ add_subdirectory("tutorials")
 
 if(${INSTALL_SAMPLES} AND ${BUILD_CPP})
     INSTALL(TARGETS ${SAMPLE_LIST} RUNTIME DESTINATION ${CMAKE_SOURCE_DIR}/bin)
-endif()
+endif()
diff --git a/body tracking/cpp/CMakeLists.txt b/body tracking/cpp/CMakeLists.txt
@@ -1,32 +1,23 @@
-cmake_minimum_required(VERSION 2.4)
+cmake_minimum_required(VERSION 3.5)
 PROJECT(ZED_Body_Tracking_Viewer)
 
+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()
 
-if(COMMAND cmake_policy)
-        cmake_policy(SET CMP0003 OLD)
-        cmake_policy(SET CMP0004 OLD)
-        cmake_policy(SET CMP0015 OLD)
-endif(COMMAND cmake_policy)
-
-SET(EXECUTABLE_OUTPUT_PATH ".")
-SET(SPECIAL_OS_LIBS "")
-
 find_package(ZED 3 REQUIRED)
+find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(GLUT REQUIRED)
 find_package(GLEW REQUIRED)
+SET(OpenGL_GL_PREFERENCE GLVND)
 find_package(OpenGL REQUIRED)
-find_package(CUDA REQUIRED)
-
-IF(NOT WIN32)
-    SET(SPECIAL_OS_LIBS "pthread" "X11")
-    add_definitions(-Wno-write-strings)
-ENDIF()
 
 include_directories(${OpenCV_INCLUDE_DIRS})
 include_directories(${ZED_INCLUDE_DIRS})
@@ -46,7 +37,6 @@ FILE(GLOB_RECURSE SRC_FILES src/*.c*)
 FILE(GLOB_RECURSE HDR_FILES include/*.h*)
 
 add_executable(${PROJECT_NAME} ${HDR_FILES} ${SRC_FILES})
-add_definitions(-std=c++14)
 
 if (LINK_SHARED_ZED)
     SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY} ${CUDA_DEP_LIBRARIES_ZED})
@@ -55,12 +45,12 @@ else()
 endif()
 
 target_link_libraries(${PROJECT_NAME}
-                        ${SPECIAL_OS_LIBS}
-                        ${ZED_LIBS}
-                        ${OPENGL_LIBRARIES}
-                        ${GLUT_LIBRARY}
-                        ${OpenCV_LIBRARIES}
-                        ${GLEW_LIBRARIES})
+                    ${ZED_LIBS}
+                    ${OPENGL_LIBRARIES}
+                    ${GLUT_LIBRARY}
+                    ${OpenCV_LIBRARIES}
+                    ${GLEW_LIBRARIES}
+)
 
 if(INSTALL_SAMPLES)
     LIST(APPEND SAMPLE_LIST ${PROJECT_NAME})

diff --git a/body tracking/cpp/src/main.cpp b/body tracking/cpp/src/main.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2021, STEREOLABS.
+// Copyright (c) 2022, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -53,6 +53,7 @@ int main(int argc, char **argv) {
     // On Jetson the object detection combined with an heavy depth mode could reduce the frame rate too much
     init_parameters.depth_mode = isJetson ? DEPTH_MODE::PERFORMANCE : DEPTH_MODE::ULTRA;
     init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP;
+    init_parameters.sdk_verbose=1;
 
     parseArgs(argc, argv, init_parameters);
 

diff --git a/body tracking/csharp/CMakeLists.txt b/body tracking/csharp/CMakeLists.txt
@@ -38,7 +38,7 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES
 
 set(CMAKE_SUPPRESS_REGENERATION true)
 set_property(TARGET ${PROJECT_NAME} PROPERTY VS_PACKAGE_REFERENCES 
-	"Stereolabs.zed_3.6.0"
+	"Stereolabs.zed_3.7.*"
 	"OpenGL.Net_0.8.4"
 	"OpenGL.Net.CoreUI_0.8.4"
 	"OpenCvSharp4.Windows_4.5.0.20201013"

diff --git a/body tracking/csharp/MainWindow.cs b/body tracking/csharp/MainWindow.cs
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2021, STEREOLABS.
+// Copyright (c) 2022, STEREOLABS.
 //
 // All rights reserved.
 //

diff --git a/body tracking/python/body_tracking.py b/body tracking/python/body_tracking.py
@@ -1,6 +1,6 @@
 ########################################################################
 #
-# Copyright (c) 2021, STEREOLABS.
+# Copyright (c) 2022, STEREOLABS.
 #
 # All rights reserved.
 #

diff --git a/camera control/cpp/CMakeLists.txt b/camera control/cpp/CMakeLists.txt
@@ -1,22 +1,19 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(ZED_Camera_Control)
 
+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()
 
-if(COMMAND cmake_policy)
-	cmake_policy(SET CMP0003 OLD)
-	cmake_policy(SET CMP0015 OLD)
-endif(COMMAND cmake_policy)
-
-SET(EXECUTABLE_OUTPUT_PATH ".")
-
 find_package(ZED 3 REQUIRED)
 find_package(OpenCV REQUIRED)
-find_package(CUDA ${ZED_CUDA_VERSION} EXACT REQUIRED)
+find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
 
 include_directories(${CUDA_INCLUDE_DIRS})
 include_directories(${ZED_INCLUDE_DIRS})
@@ -27,23 +24,6 @@ link_directories(${OpenCV_LIBRARY_DIRS})
 link_directories(${CUDA_LIBRARY_DIRS})
 
 ADD_EXECUTABLE(${PROJECT_NAME} src/main.cpp)
-add_definitions(-std=c++14 -O3)
-
-## DEBUG/ SANITIZER options
-IF(NOT WIN32)
-    add_definitions(-Werror=return-type)
-    IF (BUILD_WITH_SANITIZER)
-    message("!! Building with address sanitizer and -g !!")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address -Wall -Wextra -g")
-    set (CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address -Wall -Wextra -g")
-    add_definitions(-g -fsanitize=address -fno-omit-frame-pointer -static-libasan -Wall -Wextra)
-    ENDIF()
-
-    IF (BUILD_WITH_DEBUGINFOS)
-    message("!! Building with -g !!")
-    add_definitions(-g)
-    ENDIF()
-ENDIF()
 
 if (LINK_SHARED_ZED)
     SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY})

diff --git a/camera control/cpp/src/main.cpp b/camera control/cpp/src/main.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2021, STEREOLABS.
+// Copyright (c) 2022, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -91,21 +91,16 @@ static void onMouse(int event, int x, int y, int, void*)
 }
 
 int main(int argc, char **argv) {
+
     // Create a ZED Camera object
-
-    std::cout<<" Reboot CAMERA "<<std::endl;
-    sl::ERROR_CODE errcode= sl::Camera::reboot(0);
-    sl::sleep_ms(3000);
-    std::cout<<" Reboot CAMERA --> "<<errcode<<std::endl;
     Camera zed;
-    
+
     sl::InitParameters init_parameters;
     init_parameters.sdk_verbose = true;
     init_parameters.camera_resolution= sl::RESOLUTION::HD720;
     init_parameters.depth_mode = sl::DEPTH_MODE::NONE; // no depth computation required here
     parseArgs(argc,argv, init_parameters);
 
-
     // Open the camera
     auto returned_state = zed.open(init_parameters);
     if (returned_state != ERROR_CODE::SUCCESS) {

diff --git a/camera control/csharp/CMakeLists.txt b/camera control/csharp/CMakeLists.txt
@@ -29,6 +29,6 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_REFERENCES
 
 set(CMAKE_SUPPRESS_REGENERATION true)
 set_property(TARGET ${PROJECT_NAME} PROPERTY VS_PACKAGE_REFERENCES 
-	"Stereolabs.zed_3.6.0"
+	"Stereolabs.zed_3.7.*"
 	"OpenCvSharp4.Windows_4.5.0.20201013"
 )
diff --git a/camera control/csharp/Program.cs b/camera control/csharp/Program.cs
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2021, STEREOLABS.
+// Copyright (c) 2022, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -49,7 +49,6 @@ static void Main(string[] args)
 
         InitParameters initParameters = new InitParameters()
         {
-            sdkVerbose = true,
             resolution = RESOLUTION.HD720,
             depthMode = DEPTH_MODE.NONE
         };

diff --git a/camera control/python/camera_control.py b/camera control/python/camera_control.py
@@ -1,6 +1,6 @@
 ########################################################################
 #
-# Copyright (c) 2021, STEREOLABS.
+# Copyright (c) 2022, STEREOLABS.
 #
 # All rights reserved.
 #

diff --git a/camera streaming/receiver/README.md b/camera streaming/receiver/README.md
@@ -4,4 +4,4 @@
 
 ### Features
  - Connects to a network ZED device.
- - Uses SDK to retrieve the RGB image and control the image properties.
+ - Uses SDK to compute point cloud and displays it with OpenGL.
diff --git a/camera streaming/receiver/cpp/CMakeLists.txt b/camera streaming/receiver/cpp/CMakeLists.txt
@@ -1,33 +1,29 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(ZED_Streaming_Receiver)
 
+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()
 
-if(COMMAND cmake_policy)
-	cmake_policy(SET CMP0003 OLD)
-	cmake_policy(SET CMP0015 OLD)
-endif(COMMAND cmake_policy)
-
-SET(EXECUTABLE_OUTPUT_PATH ".")
-
 find_package(ZED 3 REQUIRED)
 find_package(OpenCV REQUIRED)
-find_package(CUDA ${ZED_CUDA_VERSION} EXACT 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)
-add_definitions(-std=c++14 -O3)
 
 if (LINK_SHARED_ZED)
     SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY})
@@ -40,4 +36,4 @@ TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${ZED_LIBS} ${OpenCV_LIBRARIES})
 if(INSTALL_SAMPLES)
     LIST(APPEND SAMPLE_LIST ${PROJECT_NAME})
     SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE)
-endif()
+endif()
diff --git a/camera streaming/receiver/cpp/src/main.cpp b/camera streaming/receiver/cpp/src/main.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2021, STEREOLABS.
+// Copyright (c) 2022, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -131,7 +131,7 @@ int main(int argc, char **argv) {
     Camera zed;
     // Set configuration parameters for the ZED
     InitParameters init_parameters;
-    init_parameters.depth_mode = DEPTH_MODE::PERFORMANCE;
+    init_parameters.depth_mode = DEPTH_MODE::NONE;
     init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; // OpenGL's coordinate system is right_handed
     init_parameters.sdk_verbose = true;
 

diff --git a/camera streaming/receiver/python/streaming_receiver.py b/camera streaming/receiver/python/streaming_receiver.py
@@ -1,6 +1,6 @@
 ########################################################################
 #
-# Copyright (c) 2021, STEREOLABS.
+# Copyright (c) 2022, STEREOLABS.
 #
 # All rights reserved.
 #

diff --git a/camera streaming/sender/cpp/CMakeLists.txt b/camera streaming/sender/cpp/CMakeLists.txt
@@ -1,26 +1,19 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(ZED_Streaming_Sender)
 
+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()
 
-if(COMMAND cmake_policy)
-	cmake_policy(SET CMP0003 OLD)
-	cmake_policy(SET CMP0015 OLD)
-endif(COMMAND cmake_policy)
-
-SET(EXECUTABLE_OUTPUT_PATH ".")
-
 find_package(ZED 3 REQUIRED)
-find_package(CUDA ${ZED_CUDA_VERSION} EXACT REQUIRED)
+find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
 
-IF(NOT WIN32) 
-    SET(SPECIAL_OS_LIBS "pthread" "X11")
-ENDIF()
-
 include_directories(${CUDA_INCLUDE_DIRS})
 include_directories(${ZED_INCLUDE_DIRS})
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
@@ -29,7 +22,6 @@ link_directories(${ZED_LIBRARY_DIR})
 link_directories(${CUDA_LIBRARY_DIRS})
 
 ADD_EXECUTABLE(${PROJECT_NAME} include/utils.hpp src/main.cpp)
-add_definitions(-std=c++14 -O3)
 
 if (LINK_SHARED_ZED)
     SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY})
@@ -42,4 +34,4 @@ TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${ZED_LIBS} ${OpenCV_LIBRARIES})
 if(INSTALL_SAMPLES)
     LIST(APPEND SAMPLE_LIST ${PROJECT_NAME})
     SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE)
-endif()
+endif()
diff --git a/camera streaming/sender/cpp/include/utils.hpp b/camera streaming/sender/cpp/include/utils.hpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2021, STEREOLABS.
+// Copyright (c) 2022, STEREOLABS.
 //
 // All rights reserved.
 //

diff --git a/camera streaming/sender/cpp/src/main.cpp b/camera streaming/sender/cpp/src/main.cpp
@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2021, STEREOLABS.
+// Copyright (c) 2022, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -48,7 +48,7 @@ int main(int argc, char **argv) {
     InitParameters init_parameters;
     init_parameters.camera_resolution = sl::RESOLUTION::HD720;
     init_parameters.depth_mode = DEPTH_MODE::NONE;
-    init_parameters.sdk_verbose = true;
+    init_parameters.sdk_verbose = 1;
     int res_arg = parseArgs(argc, argv, init_parameters);
 
     // Open the camera