Accept ZED fps and bitrate.

Author: calvertdw

src/main/java/us/ihmc/robotDataLogger/example/ExampleSVOLogger.java

@@ -49,7 +49,7 @@ public static void main(String[] args)
       String path = System.getProperty("user.home") + "/Desktop/test" + UUID.randomUUID().toString().substring(0, 5);
       String svoFile = path + ".svo2";
       String datFile = path + ".dat";
-      SVO_LOGGER.start(svoFile, datFile, System::nanoTime, ADDRESS, PORT);
+      SVO_LOGGER.start(svoFile, datFile, System::nanoTime, ADDRESS, PORT, 15, 8000);
 
       /*
          Do nothing forever, everything else runs in other threads

src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLogger.java

@@ -23,8 +23,6 @@
 public class ZEDSVOLogger
 {
    private static final double CONNECT_TIMEOUT = 2.0;
-   private static final int BITRATE = 8000;
-   private static final int MAX_FPS = 15;
    private static final boolean TRANSCODE = false;
 
    private static int nextCameraId = 10;
@@ -44,7 +42,7 @@ public class ZEDSVOLogger
    private volatile boolean completelyStopped;
    private volatile boolean failedBeyondRecovery;
 
-   public void start(String svoFile, String datFile, LongSupplier timestampSupplier, String address, int port)
+   public void start(String svoFile, String datFile, LongSupplier timestampSupplier, String address, int port, int fps, int bitrate)
    {
       this.timestampSupplier = timestampSupplier;
 
@@ -72,7 +70,7 @@ public void start(String svoFile, String datFile, LongSupplier timestampSupplier
       if (returnCode != SL_ERROR_CODE_SUCCESS)
          LogTools.error("ZED SDK error code: " + returnCode);
 
-      returnCode = sl_enable_recording(cameraID, svoFile, SL_SVO_COMPRESSION_MODE_H264, BITRATE, MAX_FPS, TRANSCODE);
+      returnCode = sl_enable_recording(cameraID, svoFile, SL_SVO_COMPRESSION_MODE_H264, bitrate, fps, TRANSCODE);
       if (returnCode != SL_ERROR_CODE_SUCCESS)
          LogTools.error("ZED SDK error code: " + returnCode);
 

src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLoggerManager.java

@@ -72,7 +72,7 @@ private void onZEDSDKAnnounceMessage(ZEDSDKAnnounce message)
 
          ZEDSVOLogger zedSVOLogger = new ZEDSVOLogger();
 
-         zedSVOLogger.start(svoFile, datFile, timestampSupplier, message.getAddressAsString(), message.getPort());
+         zedSVOLogger.start(svoFile, datFile, timestampSupplier, message.getAddressAsString(), message.getPort(), message.getFps(), message.getBitrate());
 
          zedLoggers.put(announceHash, zedSVOLogger);
       }