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Allow for variable ZED fps and bitrate. #54

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Merged
merged 2 commits into from
May 20, 2025
Merged

Allow for variable ZED fps and bitrate. #54

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63ae97e
Add fps and bitrate to ZED announce message.
calvertdw May 13, 2025
fcddbbd
Accept ZED fps and bitrate.
calvertdw May 13, 2025
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2 changes: 2 additions & 0 deletions src/main/idl/ZEDSDK.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@ module robotDataLogger{
string sensor_name;
string address;
short port;
long fps;
long bitrate;
};
};
};
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38 changes: 37 additions & 1 deletion src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnounce.java
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@ public class ZEDSDKAnnounce extends Packet<ZEDSDKAnnounce> implements Settable<Z
public java.lang.StringBuilder sensor_name_;
public java.lang.StringBuilder address_;
public short port_;
public int fps_;
public int bitrate_;

public ZEDSDKAnnounce()
{
Expand All @@ -34,6 +36,10 @@ public void set(ZEDSDKAnnounce other)

port_ = other.port_;

fps_ = other.fps_;

bitrate_ = other.bitrate_;

}

public void setSensorName(java.lang.String sensor_name)
Expand Down Expand Up @@ -75,6 +81,24 @@ public short getPort()
return port_;
}

public void setFps(int fps)
{
fps_ = fps;
}
public int getFps()
{
return fps_;
}

public void setBitrate(int bitrate)
{
bitrate_ = bitrate;
}
public int getBitrate()
{
return bitrate_;
}


public static Supplier<ZEDSDKAnnouncePubSubType> getPubSubType()
{
Expand All @@ -99,6 +123,10 @@ public boolean epsilonEquals(ZEDSDKAnnounce other, double epsilon)

if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.port_, other.port_, epsilon)) return false;

if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.fps_, other.fps_, epsilon)) return false;

if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.bitrate_, other.bitrate_, epsilon)) return false;


return true;
}
Expand All @@ -118,6 +146,10 @@ public boolean equals(Object other)

if(this.port_ != otherMyClass.port_) return false;

if(this.fps_ != otherMyClass.fps_) return false;

if(this.bitrate_ != otherMyClass.bitrate_) return false;


return true;
}
Expand All @@ -133,7 +165,11 @@ public java.lang.String toString()
builder.append("address=");
builder.append(this.address_); builder.append(", ");
builder.append("port=");
builder.append(this.port_);
builder.append(this.port_); builder.append(", ");
builder.append("fps=");
builder.append(this.fps_); builder.append(", ");
builder.append("bitrate=");
builder.append(this.bitrate_);
builder.append("}");
return builder.toString();
}
Expand Down
24 changes: 23 additions & 1 deletion src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnouncePubSubType.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ public class ZEDSDKAnnouncePubSubType implements us.ihmc.pubsub.TopicDataType<us
@Override
public final java.lang.String getDefinitionChecksum()
{
return "e3710472cf327eef8765ab1aafdd1a4fdc8b7cba2ab45bd577bbca5435234f75";
return "0a8a4b3b0580df7906673f4755a2db962b6a9a5b2be9db40bac836b844922163";
}

@Override
Expand Down Expand Up @@ -56,6 +56,10 @@ public static int getMaxCdrSerializedSize(int current_alignment)
current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + 255 + 1;
current_alignment += 2 + us.ihmc.idl.CDR.alignment(current_alignment, 2);

current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);

current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);


return current_alignment - initial_alignment;
}
Expand All @@ -76,6 +80,12 @@ public final static int getCdrSerializedSize(us.ihmc.robotDataLogger.ZEDSDKAnnou
current_alignment += 2 + us.ihmc.idl.CDR.alignment(current_alignment, 2);


current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);


current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);



return current_alignment - initial_alignment;
}
Expand All @@ -92,6 +102,10 @@ public static void write(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.id

cdr.write_type_1(data.getPort());

cdr.write_type_2(data.getFps());

cdr.write_type_2(data.getBitrate());

}

public static void read(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl.CDR cdr)
Expand All @@ -100,6 +114,10 @@ public static void read(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl
cdr.read_type_d(data.getAddress());
data.setPort(cdr.read_type_1());

data.setFps(cdr.read_type_2());

data.setBitrate(cdr.read_type_2());


}

Expand All @@ -109,6 +127,8 @@ public final void serialize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc
ser.write_type_d("sensor_name", data.getSensorName());
ser.write_type_d("address", data.getAddress());
ser.write_type_1("port", data.getPort());
ser.write_type_2("fps", data.getFps());
ser.write_type_2("bitrate", data.getBitrate());
}

@Override
Expand All @@ -117,6 +137,8 @@ public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, us.ihmc.rob
ser.read_type_d("sensor_name", data.getSensorName());
ser.read_type_d("address", data.getAddress());
data.setPort(ser.read_type_1("port"));
data.setFps(ser.read_type_2("fps"));
data.setBitrate(ser.read_type_2("bitrate"));
}

public static void staticCopy(us.ihmc.robotDataLogger.ZEDSDKAnnounce src, us.ihmc.robotDataLogger.ZEDSDKAnnounce dest)
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/us/ihmc/robotDataLogger/example/ExampleSVOLogger.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
6 changes: 2 additions & 4 deletions src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLogger.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;

Expand Down Expand Up @@ -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);

Expand Down
2 changes: 1 addition & 1 deletion src/main/java/us/ihmc/robotDataLogger/logger/ZEDSVOLoggerManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
Expand Down
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