diff --git a/body tracking/multi-camera/cpp/src/ClientPublisher.cpp b/body tracking/multi-camera/cpp/src/ClientPublisher.cpp index 23036ba9..8e1d837e 100644 --- a/body tracking/multi-camera/cpp/src/ClientPublisher.cpp +++ b/body tracking/multi-camera/cpp/src/ClientPublisher.cpp @@ -17,8 +17,6 @@ bool ClientPublisher::open(sl::InputType input) { sl::InitParameters init_parameters; init_parameters.depth_mode = sl::DEPTH_MODE::ULTRA; init_parameters.input = input; - if (input.getType() == sl::InputType::INPUT_TYPE::SVO_FILE) - init_parameters.svo_real_time_mode = true; init_parameters.coordinate_units = sl::UNIT::METER; init_parameters.coordinate_system = sl::COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP; auto state = zed.open(init_parameters); @@ -94,11 +92,11 @@ void ClientPublisher::work() // just be sure to run the bodies detection zed.retrieveBodies(bodies, body_runtime_parameters); } + sl::sleep_ms(2); } } void ClientPublisher::setStartSVOPosition(unsigned pos) { zed.setSVOPosition(pos); - zed.grab(); } diff --git a/body tracking/multi-camera/cpp/src/main.cpp b/body tracking/multi-camera/cpp/src/main.cpp index 8e09135d..dec99d81 100644 --- a/body tracking/multi-camera/cpp/src/main.cpp +++ b/body tracking/multi-camera/cpp/src/main.cpp @@ -150,9 +150,6 @@ int main(int argc, char **argv) { std::map pointClouds; sl::Resolution low_res(512,360); - bool new_data = false; - sl::Timestamp ts_new_data = sl::Timestamp(0); - // run the fusion as long as the viewer is available. while (viewer.isAvailable()) { // run the fusion process (which gather data from all camera, sync them and process them) @@ -177,7 +174,8 @@ int main(int argc, char **argv) { } // update the 3D view viewer.updateBodies(fused_bodies, camera_raw_data, metrics); - std::this_thread::sleep_for(std::chrono::microseconds(10)); + + sl::sleep_ms(10); } viewer.exit(); diff --git a/global localization/live/python/display/gl_viewer.py b/global localization/live/python/display/gl_viewer.py index 4427e8cd..244dbe76 100644 --- a/global localization/live/python/display/gl_viewer.py +++ b/global localization/live/python/display/gl_viewer.py @@ -414,7 +414,7 @@ def print_text(self): start_w = 20 start_h = h_wnd - 40 - if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK): + if(self.trackState != sl.POSITIONAL_TRACKING_FUSION_STATUS.UNAVAILABLE): glColor3f(0.2, 0.65, 0.2) else: glColor3f(0.85, 0.2, 0.2) diff --git a/global localization/playback/python/display/generic_display.py b/global localization/playback/python/display/generic_display.py index e41fe7b9..3544957d 100644 --- a/global localization/playback/python/display/generic_display.py +++ b/global localization/playback/python/display/generic_display.py @@ -10,13 +10,13 @@ def __init__(self): def __del__(self): closeAllKMLFiles() - def init(self,camera_model): + def init(self, camera_model): self.glviewer = GLViewer() self.glviewer.init(camera_model) # Replace this part with the appropriate connection to your IoT system - def updatePoseData(self, zed_rt,str_t,str_r, state): - self.glviewer.updateData(zed_rt,str_t,str_r, state) + def updatePoseData(self, zed_rt, str_t, str_r, state): + self.glviewer.updateData(zed_rt, str_t, str_r, state) def isAvailable(self): return self.glviewer.is_available() @@ -41,10 +41,8 @@ def updateGeoPoseData(self, geo_pose, current_timestamp): current_timestamp.get_milliseconds())) gnss_data = {} - gnss_data["longitude"] = geo_pose.latlng_coordinates.get_latitude( - False) - gnss_data["latitude"] = geo_pose.latlng_coordinates.get_latitude( - False) + gnss_data["longitude"] = geo_pose.latlng_coordinates.get_latitude(False) + gnss_data["latitude"] = geo_pose.latlng_coordinates.get_latitude(False) gnss_data["altitude"] = geo_pose.latlng_coordinates.get_altitude() saveKMLData("fused_position.kml", gnss_data) @@ -58,7 +56,7 @@ def updateGeoPoseData(self, geo_pose, current_timestamp): try: while True: - # Votre logique ici... + # Your logic here... pass except KeyboardInterrupt: pass diff --git a/global localization/playback/python/display/gl_viewer.py b/global localization/playback/python/display/gl_viewer.py index d56caf9b..4427e8cd 100644 --- a/global localization/playback/python/display/gl_viewer.py +++ b/global localization/playback/python/display/gl_viewer.py @@ -414,7 +414,11 @@ def print_text(self): start_w = 20 start_h = h_wnd - 40 - glColor3f(0.2, 0.65, 0.2) + if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK): + glColor3f(0.2, 0.65, 0.2) + else: + glColor3f(0.85, 0.2, 0.2) + glRasterPos2i(start_w, start_h) safe_glutBitmapString(GLUT_BITMAP_HELVETICA_18, "POSITIONAL TRACKING : " + str(self.trackState)) diff --git a/global localization/recording/python/display/gl_viewer.py b/global localization/recording/python/display/gl_viewer.py index 4427e8cd..244dbe76 100644 --- a/global localization/recording/python/display/gl_viewer.py +++ b/global localization/recording/python/display/gl_viewer.py @@ -414,7 +414,7 @@ def print_text(self): start_w = 20 start_h = h_wnd - 40 - if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK): + if(self.trackState != sl.POSITIONAL_TRACKING_FUSION_STATUS.UNAVAILABLE): glColor3f(0.2, 0.65, 0.2) else: glColor3f(0.85, 0.2, 0.2) diff --git a/global localization/recording/python/ogl_viewer/tracking_viewer.py b/global localization/recording/python/ogl_viewer/tracking_viewer.py index 21b695d5..d3eea42f 100644 --- a/global localization/recording/python/ogl_viewer/tracking_viewer.py +++ b/global localization/recording/python/ogl_viewer/tracking_viewer.py @@ -414,7 +414,7 @@ def print_text(self): start_w = 20 start_h = h_wnd - 40 - if(self.trackState == sl.POSITIONAL_TRACKING_STATE.OK): + if(self.trackState != sl.POSITIONAL_TRACKING_FUSION_STATUS.UNAVAILABLE): glColor3f(0.2, 0.65, 0.2) else: glColor3f(0.85, 0.2, 0.2)