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Add remote connectivity constructor to ZEDImageSensor #791

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Merged
merged 3 commits into from
May 7, 2025
Merged

Add remote connectivity constructor to ZEDImageSensor #791

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cb0fbd6
Add remote connectivity constructor to ZEDImageSensor
ds58 Apr 29, 2025
f98dfa4
Do not reconnect if remote ZED SDK stream
ds58 Apr 29, 2025
5fea545
Remove sl depth mode from remote constructor
ds58 Apr 30, 2025
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43 changes: 38 additions & 5 deletions ihmc-perception/src/main/java/us/ihmc/sensors/zed/ZEDImageSensor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,9 @@ public class ZEDImageSensor extends ImageSensor
private final ZEDModelData zedModel;
private final int slInputType;
private final int slDepthMode;
private final int streamingPort = nextStreamingPort++;
private String remoteStreamingAddress;
private int remoteStreamingPort;
private final int localStreamingPort = nextStreamingPort++;

private final RawImage[] grabbedImages = new RawImage[OUTPUT_IMAGE_COUNT];
private final Pointer[] slMatPointers = new Pointer[OUTPUT_IMAGE_COUNT];
Expand Down Expand Up @@ -98,6 +100,20 @@ public ZEDImageSensor(int cameraID, ZEDModelData zedModel, int slInputType, int
zedRuntimeParameters.enable_fill_mode(false);
}

/**
* Constructor to connect to a remote ZED SDK instance
*/
public ZEDImageSensor(int cameraID, ZEDModelData zedModel, int slInputType, int slDepthMode, String remoteStreamingAddress, int remoteStreamingPort)
{
this(cameraID, zedModel, slInputType, slDepthMode);

if (slInputType != SL_INPUT_TYPE_STREAM)
throw new RuntimeException("Invalid SL_INPUT_TYPE for called constructor (must be SL_INPUT_TYPE_STREAM)");
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Why not just remove the parameter from the constructor?

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Yes, good idea. Ive done that


this.remoteStreamingAddress = remoteStreamingAddress;
this.remoteStreamingPort = remoteStreamingPort;
}

private void updateReferenceFrames()
{
if (leftSensorFrame != null)
Expand Down Expand Up @@ -140,13 +156,21 @@ protected boolean startSensor()
sl_enable_positional_tracking(cameraID, positionalTrackingParameters, "");
}

sl_enable_streaming(cameraID, SL_STREAMING_CODEC_H264, 8000, (short) streamingPort, -1, 0, 16084, CAMERA_FPS);

// Get camera intrinsics
SL_CalibrationParameters sensorIntrinsics = sl_get_calibration_parameters(cameraID, false);
imageWidth = sl_get_width(cameraID);
imageHeight = sl_get_height(cameraID);

if (slInputType != SL_INPUT_TYPE_STREAM)
sl_enable_streaming(cameraID,
SL_STREAMING_CODEC_H264,
calculateBitrate(imageWidth, imageHeight, CAMERA_FPS),
(short) localStreamingPort,
-1,
0,
16084,
CAMERA_FPS);

leftSensorIntrinsics.setWidth(imageWidth);
leftSensorIntrinsics.setHeight(imageHeight);
leftSensorIntrinsics.setFx(sensorIntrinsics.left_cam().fx());
Expand Down Expand Up @@ -208,7 +232,10 @@ protected void setInitParameters(SL_InitParameters parametersToSet)

protected int openCamera()
{
return sl_open_camera(cameraID, zedInitParameters, 0, "", "", 0, "", "", "");
if (slInputType == SL_INPUT_TYPE_STREAM)
return sl_open_camera(cameraID, zedInitParameters, 0, "", remoteStreamingAddress, remoteStreamingPort, "", "", "");
else
return sl_open_camera(cameraID, zedInitParameters, 0, "", "", 0, "", "", "");
}

@Override
Expand Down Expand Up @@ -372,7 +399,7 @@ public int getCameraID()

public int getStreamingPort()
{
return streamingPort;
return localStreamingPort;
}

public void enablePositionalTracking(boolean enable)
Expand Down Expand Up @@ -470,4 +497,10 @@ private String getZEDErrorName(int errorCode)
default -> "UNKNOWN";
};
}

private static int calculateBitrate(int width, int height, int fps)
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returns ~8000 for 1920x1080@30

{
double bpp = 0.128; // Derived from 8000 kbps for 1080p30
return (int) ((width * height * fps * bpp) / 1000);
}
}
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