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Upgrade zed sample for ZED SDK 2.0 #12

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16 changes: 10 additions & 6 deletions sample/zed/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,14 @@ message(STATUS ${CMAKE_MODULE_PATH})
FIND_PACKAGE(CUDA REQUIRED)

find_package(OpenCV REQUIRED core) # dammy
if(OpenCV_VERSION VERSION_LESS 3.0)
find_package(OpenCV REQUIRED core highgui imgproc) # 2.x
if(OpenCV_VERSION VERSION_LESS 3.1)
message(FATAL_ERROR "Zed SDK requires OpenCV 3.1")
else()
find_package(OpenCV REQUIRED core highgui imgproc imgcodecs videoio) # 3.x
endif()

find_package(ZED 2.0 REQUIRED)

find_package(OpenGL REQUIRED)

find_package(GLEW REQUIRED)
Expand All @@ -25,13 +27,15 @@ include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${GLEW_INCLUDE_DIRS})
include_directories(${GLFW_INCLUDE_DIRS})

include_directories(${ZED_SDK_INCLUDE_DIR})
include_directories(${ZED_INCLUDE_DIRS})

if(NOT WIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11")
endif()

link_directories(${OpenCV_LIBRARY_DIRS})
link_directories(${ZED_LIBRARY_DIR})

CUDA_ADD_EXECUTABLE(zed_demo
zed_demo.cpp
demo.cpp
Expand All @@ -43,7 +47,7 @@ CUDA_ADD_EXECUTABLE(zed_demo
TARGET_LINK_LIBRARIES(zed_demo
sgm
${CUDA_LIBRARIES} ${CUDA_nppi_LIBRARY}
${OpenCV_LIBS}
${OpenCV_LIBRARIES}
${GLEW_LIBRARIES} ${GLFW_LIBRARY} ${OPENGL_LIBRARY}
${ZED_SDK_LIB}
${ZED_LIBRARIES}
)
45 changes: 31 additions & 14 deletions sample/zed/zed_demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ limitations under the License.

#include <nppi.h>

#include <zed/Camera.hpp>
#include <sl/Camera.hpp>

#include <libsgm.h>

Expand All @@ -40,19 +40,21 @@ int main(int argc, char* argv[]) {
}

// init zed cam
auto cap = new sl::zed::Camera(sl::zed::ZEDResolution_mode::VGA);
sl::zed::ERRCODE err = cap->init(sl::zed::MODE::PERFORMANCE, 0, true);
if (err != sl::zed::ERRCODE::SUCCESS) {
std::cout << sl::zed::errcode2str(err) << std::endl;
sl::Camera cap;
sl::InitParameters init_param;
init_param.camera_resolution = sl::RESOLUTION::RESOLUTION_HD1080;
init_param.camera_fps = 15;
sl::ERROR_CODE err = cap.open(init_param);
if (err != sl::ERROR_CODE::SUCCESS) {
std::cout << sl::errorCode2str(err) << std::endl;
exit(EXIT_FAILURE);
}

int width = cap->getImageSize().width;
int height = cap->getImageSize().height;
int width = cap.getResolution().width;
int height = cap.getResolution().height;

sgm::StereoSGM ssgm(width, height, disp_size, 8, 16, sgm::EXECUTE_INOUT_CUDA2CUDA);


SGMDemo demo(width, height);
if (demo.init()) {
printf("fail to init SGM Demo\n");
Expand All @@ -72,13 +74,28 @@ int main(int argc, char* argv[]) {
cv::Mat h_input_left(height, width, CV_8UC1);

while (!demo.should_close()) {
cap->grab(sl::zed::SENSING_MODE::FULL, false, false);
err = cap.grab({sl::SENSING_MODE::SENSING_MODE_STANDARD, false, false, false})

@ghost ghost Jul 19, 2017

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Thank you for your pull request.
Add semi-column at end of line, please?

if (err != sl::ERROR_CODE::SUCCESS) {
std::cout << sl::errorCode2str(err) << std::endl;
exit(EXIT_FAILURE);
}

sl::zed::Mat left_zm = cap->retrieveImage_gpu(sl::zed::SIDE::LEFT);
sl::zed::Mat right_zm = cap->retrieveImage_gpu(sl::zed::SIDE::RIGHT);
sl::Mat left_zm;
err = cap.retrieveImage(left_zm, sl::VIEW::VIEW_LEFT, sl::MEM::MEM_GPU);
if (err != sl::ERROR_CODE::SUCCESS) {
std::cout << sl::errorCode2str(err) << std::endl;
exit(EXIT_FAILURE);
}

sl::Mat right_zm;
err = cap.retrieveImage(right_zm, sl::VIEW::VIEW_RIGHT, sl::MEM::MEM_GPU);
if (err != sl::ERROR_CODE::SUCCESS) {
std::cout << sl::errorCode2str(err) << std::endl;
exit(EXIT_FAILURE);
}

nppiRGBToGray_8u_AC4C1R(left_zm.data, width * 4, d_input_left, width, roi);
nppiRGBToGray_8u_AC4C1R(right_zm.data, width * 4, d_input_right, width, roi);
nppiRGBToGray_8u_AC4C1R(left_zm.getPtr<uint8_t>(sl::MEM::MEM_GPU), width * 4, d_input_left, width, roi);
nppiRGBToGray_8u_AC4C1R(right_zm.getPtr<uint8_t>(sl::MEM::MEM_GPU), width * 4, d_input_right, width, roi);

ssgm.execute(d_input_left, d_input_right, (void**)&d_output_buffer);

Expand All @@ -100,5 +117,5 @@ int main(int argc, char* argv[]) {

cudaFree(d_input_left);
cudaFree(d_input_right);
delete cap;
cap.close();
}