\ref sdk_verbose >= 1) mode can help you understand the current ZED SDK behavior.
\n However, this might not be desirable in a shipped version.
- \n Default: 0 (no verbose message)
+ \n Default: 1 (verbose messages enabled)
\note The verbose messages can also be exported into a log file.
*/
public native int sdk_verbose(); public native SL_InitParameters sdk_verbose(int setter);
diff --git a/src/main/java/us/ihmc/zed/SL_InputType.java b/src/main/java/us/ihmc/zed/SL_InputType.java
index 6d109da..078db91 100644
--- a/src/main/java/us/ihmc/zed/SL_InputType.java
+++ b/src/main/java/us/ihmc/zed/SL_InputType.java
@@ -1,4 +1,4 @@
-// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE
+// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE
package us.ihmc.zed;
diff --git a/src/main/java/us/ihmc/zed/SL_Landmark.java b/src/main/java/us/ihmc/zed/SL_Landmark.java
index bd60d28..933dfce 100644
--- a/src/main/java/us/ihmc/zed/SL_Landmark.java
+++ b/src/main/java/us/ihmc/zed/SL_Landmark.java
@@ -1,4 +1,4 @@
-// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE
+// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE
package us.ihmc.zed;
diff --git a/src/main/java/us/ihmc/zed/SL_Landmark2D.java b/src/main/java/us/ihmc/zed/SL_Landmark2D.java
index 9cbed3f..fb8f064 100644
--- a/src/main/java/us/ihmc/zed/SL_Landmark2D.java
+++ b/src/main/java/us/ihmc/zed/SL_Landmark2D.java
@@ -1,4 +1,4 @@
-// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE
+// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE
package us.ihmc.zed;
@@ -33,11 +33,20 @@ public class SL_Landmark2D extends Pointer {
}
/**
- \brief Unique identifier for the landmark.
+ \brief Unique identifier for the landmark.
*/
public native @Cast("uint64_t") long id(); public native SL_Landmark2D id(long setter);
+
/**
- \brief Projection of the landmark in the image.
- */
+ \brief Projection of the landmark in the image.
+ */
public native @ByRef SL_Uint2 image_position(); public native SL_Landmark2D image_position(SL_Uint2 setter);
+
+ /**
+ \brief Confidence score indicating the likelihood that the landmark is associated with a dynamic object.
+ + The value ranges from 0 to 1, where a smaller value indicates greater confidence that the landmark + is owned by a dynamic object. + */ + public native float dynamic_confidence(); public native SL_Landmark2D dynamic_confidence(float setter); } diff --git a/src/main/java/us/ihmc/zed/SL_LatLng.java b/src/main/java/us/ihmc/zed/SL_LatLng.java index 5aa6629..096b3bb 100644 --- a/src/main/java/us/ihmc/zed/SL_LatLng.java +++ b/src/main/java/us/ihmc/zed/SL_LatLng.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_MagnetometerData.java b/src/main/java/us/ihmc/zed/SL_MagnetometerData.java index d9c717a..af5c80c 100644 --- a/src/main/java/us/ihmc/zed/SL_MagnetometerData.java +++ b/src/main/java/us/ihmc/zed/SL_MagnetometerData.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Matrix3f.java b/src/main/java/us/ihmc/zed/SL_Matrix3f.java index 5dc12e5..1d60ecf 100644 --- a/src/main/java/us/ihmc/zed/SL_Matrix3f.java +++ b/src/main/java/us/ihmc/zed/SL_Matrix3f.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Matrix4f.java b/src/main/java/us/ihmc/zed/SL_Matrix4f.java index e3f428f..23d65d0 100644 --- a/src/main/java/us/ihmc/zed/SL_Matrix4f.java +++ b/src/main/java/us/ihmc/zed/SL_Matrix4f.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_ObjectData.java b/src/main/java/us/ihmc/zed/SL_ObjectData.java index 740ee99..a225f2c 100644 --- a/src/main/java/us/ihmc/zed/SL_ObjectData.java +++ b/src/main/java/us/ihmc/zed/SL_ObjectData.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_ObjectDetectionParameters.java b/src/main/java/us/ihmc/zed/SL_ObjectDetectionParameters.java index 0b3e87b..7663286 100644 --- a/src/main/java/us/ihmc/zed/SL_ObjectDetectionParameters.java +++ b/src/main/java/us/ihmc/zed/SL_ObjectDetectionParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_ObjectDetectionRuntimeParameters.java b/src/main/java/us/ihmc/zed/SL_ObjectDetectionRuntimeParameters.java index 81299dc..0072d45 100644 --- a/src/main/java/us/ihmc/zed/SL_ObjectDetectionRuntimeParameters.java +++ b/src/main/java/us/ihmc/zed/SL_ObjectDetectionRuntimeParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Objects.java b/src/main/java/us/ihmc/zed/SL_Objects.java index fd53718..1b55640 100644 --- a/src/main/java/us/ihmc/zed/SL_Objects.java +++ b/src/main/java/us/ihmc/zed/SL_Objects.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_ObjectsBatch.java b/src/main/java/us/ihmc/zed/SL_ObjectsBatch.java index 77fe99e..7d8fd96 100644 --- a/src/main/java/us/ihmc/zed/SL_ObjectsBatch.java +++ b/src/main/java/us/ihmc/zed/SL_ObjectsBatch.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_PlaneData.java b/src/main/java/us/ihmc/zed/SL_PlaneData.java index df5c869..1c3eebb 100644 --- a/src/main/java/us/ihmc/zed/SL_PlaneData.java +++ b/src/main/java/us/ihmc/zed/SL_PlaneData.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_PlaneDetectionParameters.java b/src/main/java/us/ihmc/zed/SL_PlaneDetectionParameters.java index 4d78e80..7fe054a 100644 --- a/src/main/java/us/ihmc/zed/SL_PlaneDetectionParameters.java +++ b/src/main/java/us/ihmc/zed/SL_PlaneDetectionParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_PoseData.java b/src/main/java/us/ihmc/zed/SL_PoseData.java index d73ecac..6363d87 100644 --- a/src/main/java/us/ihmc/zed/SL_PoseData.java +++ b/src/main/java/us/ihmc/zed/SL_PoseData.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_PositionalTrackingFusionParameters.java b/src/main/java/us/ihmc/zed/SL_PositionalTrackingFusionParameters.java index eb7e1fc..ecc8c77 100644 --- a/src/main/java/us/ihmc/zed/SL_PositionalTrackingFusionParameters.java +++ b/src/main/java/us/ihmc/zed/SL_PositionalTrackingFusionParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java b/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java index c5744fd..4a983cb 100644 --- a/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java +++ b/src/main/java/us/ihmc/zed/SL_PositionalTrackingParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; @@ -116,4 +116,14 @@ public class SL_PositionalTrackingParameters extends Pointer { \n Default: \ref SL_POSITIONAL_TRACKING_MODE_GEN_1 */ public native @Cast("SL_POSITIONAL_TRACKING_MODE") int mode(); public native SL_PositionalTrackingParameters mode(int setter); + + /** + * \brief Whether to enable the area mode in localize only mode. + */ + public native @Cast("bool") boolean enable_localization_only(); public native SL_PositionalTrackingParameters enable_localization_only(boolean setter); + + /** + * \brief Whether to enable the 2D ground mode. + */ + public native @Cast("bool") boolean enable_2d_ground_mode(); public native SL_PositionalTrackingParameters enable_2d_ground_mode(boolean setter); } diff --git a/src/main/java/us/ihmc/zed/SL_PositionalTrackingStatus.java b/src/main/java/us/ihmc/zed/SL_PositionalTrackingStatus.java index e9a370e..e2eb48c 100644 --- a/src/main/java/us/ihmc/zed/SL_PositionalTrackingStatus.java +++ b/src/main/java/us/ihmc/zed/SL_PositionalTrackingStatus.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Quaternion.java b/src/main/java/us/ihmc/zed/SL_Quaternion.java index 74a64ad..7a03866 100644 --- a/src/main/java/us/ihmc/zed/SL_Quaternion.java +++ b/src/main/java/us/ihmc/zed/SL_Quaternion.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_RecordingParameters.java b/src/main/java/us/ihmc/zed/SL_RecordingParameters.java index eb8bb7f..2b56da2 100644 --- a/src/main/java/us/ihmc/zed/SL_RecordingParameters.java +++ b/src/main/java/us/ihmc/zed/SL_RecordingParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_RecordingStatus.java b/src/main/java/us/ihmc/zed/SL_RecordingStatus.java index 969b391..b0b1a17 100644 --- a/src/main/java/us/ihmc/zed/SL_RecordingStatus.java +++ b/src/main/java/us/ihmc/zed/SL_RecordingStatus.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Rect.java b/src/main/java/us/ihmc/zed/SL_Rect.java index eca8879..b4b6d98 100644 --- a/src/main/java/us/ihmc/zed/SL_Rect.java +++ b/src/main/java/us/ihmc/zed/SL_Rect.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_RegionOfInterestParameters.java b/src/main/java/us/ihmc/zed/SL_RegionOfInterestParameters.java index cc3b176..cc43254 100644 --- a/src/main/java/us/ihmc/zed/SL_RegionOfInterestParameters.java +++ b/src/main/java/us/ihmc/zed/SL_RegionOfInterestParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Resolution.java b/src/main/java/us/ihmc/zed/SL_Resolution.java index 0435fbd..cd031ff 100644 --- a/src/main/java/us/ihmc/zed/SL_Resolution.java +++ b/src/main/java/us/ihmc/zed/SL_Resolution.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_RuntimeParameters.java b/src/main/java/us/ihmc/zed/SL_RuntimeParameters.java index f6e8614..a8bc79e 100644 --- a/src/main/java/us/ihmc/zed/SL_RuntimeParameters.java +++ b/src/main/java/us/ihmc/zed/SL_RuntimeParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_SVOData.java b/src/main/java/us/ihmc/zed/SL_SVOData.java index 872b56e..bd2f52d 100644 --- a/src/main/java/us/ihmc/zed/SL_SVOData.java +++ b/src/main/java/us/ihmc/zed/SL_SVOData.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_SensorParameters.java b/src/main/java/us/ihmc/zed/SL_SensorParameters.java index b0f10ef..9f579f0 100644 --- a/src/main/java/us/ihmc/zed/SL_SensorParameters.java +++ b/src/main/java/us/ihmc/zed/SL_SensorParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_SensorsConfiguration.java b/src/main/java/us/ihmc/zed/SL_SensorsConfiguration.java index 7fdf0a6..1abdffa 100644 --- a/src/main/java/us/ihmc/zed/SL_SensorsConfiguration.java +++ b/src/main/java/us/ihmc/zed/SL_SensorsConfiguration.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_SensorsData.java b/src/main/java/us/ihmc/zed/SL_SensorsData.java index e780808..fe0cca8 100644 --- a/src/main/java/us/ihmc/zed/SL_SensorsData.java +++ b/src/main/java/us/ihmc/zed/SL_SensorsData.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_SpatialMappingParameters.java b/src/main/java/us/ihmc/zed/SL_SpatialMappingParameters.java index d38145c..9736d9b 100644 --- a/src/main/java/us/ihmc/zed/SL_SpatialMappingParameters.java +++ b/src/main/java/us/ihmc/zed/SL_SpatialMappingParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_StreamingParameters.java b/src/main/java/us/ihmc/zed/SL_StreamingParameters.java index 52da5c5..183d23b 100644 --- a/src/main/java/us/ihmc/zed/SL_StreamingParameters.java +++ b/src/main/java/us/ihmc/zed/SL_StreamingParameters.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_StreamingProperties.java b/src/main/java/us/ihmc/zed/SL_StreamingProperties.java index 7693773..914c6aa 100644 --- a/src/main/java/us/ihmc/zed/SL_StreamingProperties.java +++ b/src/main/java/us/ihmc/zed/SL_StreamingProperties.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_SynchronizationParameter.java b/src/main/java/us/ihmc/zed/SL_SynchronizationParameter.java index 18286c7..e515b76 100644 --- a/src/main/java/us/ihmc/zed/SL_SynchronizationParameter.java +++ b/src/main/java/us/ihmc/zed/SL_SynchronizationParameter.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_TemperatureData.java b/src/main/java/us/ihmc/zed/SL_TemperatureData.java index 647c0da..8344946 100644 --- a/src/main/java/us/ihmc/zed/SL_TemperatureData.java +++ b/src/main/java/us/ihmc/zed/SL_TemperatureData.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Transform.java b/src/main/java/us/ihmc/zed/SL_Transform.java index c11b899..d138693 100644 --- a/src/main/java/us/ihmc/zed/SL_Transform.java +++ b/src/main/java/us/ihmc/zed/SL_Transform.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_UTM.java b/src/main/java/us/ihmc/zed/SL_UTM.java index 8fcbc66..4e07dea 100644 --- a/src/main/java/us/ihmc/zed/SL_UTM.java +++ b/src/main/java/us/ihmc/zed/SL_UTM.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Uchar2.java b/src/main/java/us/ihmc/zed/SL_Uchar2.java index f88ace5..42941b8 100644 --- a/src/main/java/us/ihmc/zed/SL_Uchar2.java +++ b/src/main/java/us/ihmc/zed/SL_Uchar2.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Uchar3.java b/src/main/java/us/ihmc/zed/SL_Uchar3.java index d763b82..6fe7758 100644 --- a/src/main/java/us/ihmc/zed/SL_Uchar3.java +++ b/src/main/java/us/ihmc/zed/SL_Uchar3.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Uchar4.java b/src/main/java/us/ihmc/zed/SL_Uchar4.java index 68a7d56..e8ef419 100644 --- a/src/main/java/us/ihmc/zed/SL_Uchar4.java +++ b/src/main/java/us/ihmc/zed/SL_Uchar4.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Uint2.java b/src/main/java/us/ihmc/zed/SL_Uint2.java index 7e8529a..06ddee4 100644 --- a/src/main/java/us/ihmc/zed/SL_Uint2.java +++ b/src/main/java/us/ihmc/zed/SL_Uint2.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Vector2.java b/src/main/java/us/ihmc/zed/SL_Vector2.java index e861ad6..333d0c2 100644 --- a/src/main/java/us/ihmc/zed/SL_Vector2.java +++ b/src/main/java/us/ihmc/zed/SL_Vector2.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Vector3.java b/src/main/java/us/ihmc/zed/SL_Vector3.java index 18d7a25..982c3fc 100644 --- a/src/main/java/us/ihmc/zed/SL_Vector3.java +++ b/src/main/java/us/ihmc/zed/SL_Vector3.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/SL_Vector4.java b/src/main/java/us/ihmc/zed/SL_Vector4.java index 5b3cdf8..b6a6db2 100644 --- a/src/main/java/us/ihmc/zed/SL_Vector4.java +++ b/src/main/java/us/ihmc/zed/SL_Vector4.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed; diff --git a/src/main/java/us/ihmc/zed/ZEDJavaAPIConfig.java b/src/main/java/us/ihmc/zed/ZEDJavaAPIConfig.java index 938614b..e086697 100644 --- a/src/main/java/us/ihmc/zed/ZEDJavaAPIConfig.java +++ b/src/main/java/us/ihmc/zed/ZEDJavaAPIConfig.java @@ -20,7 +20,7 @@ @Platform( value = "windows", // This CUDA includepath is where CUDA would be installed within a Windows GitHub runner that compiles the native binaries - includepath = {"include", "C:\\\\Program Files\\\\NVIDIA GPU Computing Toolkit\\\\CUDA\\\\v11.8\\\\include"} + includepath = {"include", "C:\\\\Program Files\\\\NVIDIA GPU Computing Toolkit\\\\CUDA\\\\v12.8\\\\include"} ) }, target = "us.ihmc.zed", diff --git a/src/main/java/us/ihmc/zed/ZEDTools.java b/src/main/java/us/ihmc/zed/ZEDTools.java index 4cc0fc5..b884d48 100644 --- a/src/main/java/us/ihmc/zed/ZEDTools.java +++ b/src/main/java/us/ihmc/zed/ZEDTools.java @@ -8,6 +8,9 @@ public static String errorName(int zedErrorCode) { return switch (zedErrorCode) { + case SL_ERROR_CODE_POTENTIAL_CALIBRATION_ISSUE -> "SL_ERROR_CODE_POTENTIAL_CALIBRATION_ISSUE"; + case SL_ERROR_CODE_CONFIGURATION_FALLBACK -> "SL_ERROR_CODE_CONFIGURATION_FALLBACK"; + case SL_ERROR_CODE_SENSORS_DATA_REQUIRED -> "SL_ERROR_CODE_SENSORS_DATA_REQUIRED"; case SL_ERROR_CODE_CORRUPTED_FRAME -> "SL_ERROR_CODE_CORRUPTED_FRAME"; case SL_ERROR_CODE_CAMERA_REBOOTING -> "SL_ERROR_CODE_CAMERA_REBOOTING"; case SL_ERROR_CODE_SUCCESS -> "SL_ERROR_CODE_SUCCESS"; @@ -44,8 +47,7 @@ public static String errorName(int zedErrorCode) case SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA -> "SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CAMERA"; case SL_ERROR_CODE_MOTION_SENSORS_REQUIRED -> "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED"; case SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION -> "SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION"; - case SL_ERROR_CODE_SENSORS_DATA_REQUIRED -> "SL_ERROR_CODE_SENSORS_DATA_REQUIRED"; - case SL_ERROR_CODE_CONFIGURATION_FALLBACK -> "SL_ERROR_CODE_CONFIGURATION_FALLBACK"; + case SL_ERROR_CODE_DRIVER_FAILURE -> "SL_ERROR_CODE_DRIVER_FAILURE"; default -> "UNKNOWN"; }; } diff --git a/src/main/java/us/ihmc/zed/global/zed.java b/src/main/java/us/ihmc/zed/global/zed.java index 0091383..43dbb41 100644 --- a/src/main/java/us/ihmc/zed/global/zed.java +++ b/src/main/java/us/ihmc/zed/global/zed.java @@ -1,4 +1,4 @@ -// Targeted by JavaCPP version 1.5.10: DO NOT EDIT THIS FILE +// Targeted by JavaCPP version 1.5.11: DO NOT EDIT THIS FILE package us.ihmc.zed.global; @@ -118,7 +118,8 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { */ /** enum SL_ERROR_CODE */ public static final int - + /** The camera has a potential calibration issue*/ + SL_ERROR_CODE_POTENTIAL_CALIBRATION_ISSUE = -5, /** The operation could not proceed with the target configuration but did success with a fallback.*/ SL_ERROR_CODE_CONFIGURATION_FALLBACK = -4, /** The input data does not contains the high frequency sensors data, this is usually because it requires newer SVO/Streaming. In order to work this modules needs inertial data present in it input.*/ @@ -194,7 +195,9 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { /** The module needs the sensors to be enabled (see SL_InitParameters.sensors_required). */ SL_ERROR_CODE_MOTION_SENSORS_REQUIRED = 32, /** The module needs a newer version of CUDA. */ - SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION = 33; + SL_ERROR_CODE_MODULE_NOT_COMPATIBLE_WITH_CUDA_VERSION = 33, + /** The drivers initialization has failed. When using gmsl cameras, try restarting with sudo systemctl restart zed_x_daemon.service */ + SL_ERROR_CODE_DRIVER_FAILURE = 34; /** \brief Lists available resolutions. @@ -300,7 +303,7 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { SL_MODEL_ZED_XONE_GS = 30, /** ZED X One with 4K rolling shutter IMX678 sensor */ SL_MODEL_ZED_XONE_UHD = 31, - /** ZED XOne HDR */ + /** ZED X One HDR */ SL_MODEL_ZED_XONE_HDR = 32; /** @@ -534,7 +537,65 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { /** Color rendering of the right depth mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_DEPTH_RIGHT with \ref sl_retrieve_measure() to get depth right values.*/ SL_VIEW_DEPTH_RIGHT = 12, /** Color rendering of the normals mapped on right sensor. Each pixel contains 4 unsigned char (B, G, R, A).\n Type: \ref SL_MAT_TYPE_U8_C4 \note Use \ref SL_MEASURE_NORMALS_RIGHT with \ref sl_retrieve_measure() to get normal right values.*/ - SL_VIEW_NORMALS_RIGHT = 13; + SL_VIEW_NORMALS_RIGHT = 13, + /** Alias of \ref SL_VIEW_LEFT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_LEFT_BGRA = 14, + /** Left image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_LEFT_BGR = 15, + /** Alias of \ref SL_VIEW_RIGHT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_RIGHT_BGRA = 16, + /** Right image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_RIGHT_BGR = 17, + /** Alias of \ref SL_VIEW_LEFT_UNRECTIFIED.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_LEFT_UNRECTIFIED_BGRA = 18, + /** Left unrectified image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_LEFT_UNRECTIFIED_BGR = 19, + /** Alias of \ref SL_VIEW_RIGHT_UNRECTIFIED.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_RIGHT_UNRECTIFIED_BGRA = 20, + /** Right unrectified image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_RIGHT_UNRECTIFIED_BGR = 21, + /** Alias of \ref SL_VIEW_SIDE_BY_SIDE.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_SIDE_BY_SIDE_BGRA = 22, + /** Side by side image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_SIDE_BY_SIDE_BGR = 23, + /** Side by side image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ + SL_VIEW_SIDE_BY_SIDE_GRAY = 24, + /** Alias of \ref VIEW "sl::VIEW::SIDE_BY_SIDE_UNRECTIFIED".\n Type: \ref MAT_TYPE "sl::MAT_TYPE::U8_C4" */ + SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_BGRA = 25, + /** Side by side unrectified image in BGR pixel format: Type: \ref MAT_TYPE "sl::MAT_TYPE::U8_C3" */ + SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_BGR = 26, + /** Side by side unrectified image in gray scale: Type: \ref MAT_TYPE "sl::MAT_TYPE::U8_C1" */ + SL_VIEW_SIDE_BY_SIDE_UNRECTIFIED_GRAY = 27, + /** Alias of \ref SL_VIEW_DEPTH.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_DEPTH_BGRA = 28, + /** Depth image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_DEPTH_BGR = 29, + /** Depth image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ + SL_VIEW_DEPTH_GRAY = 30, + /** Alias of \ref SL_VIEW_CONFIDENCE.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_CONFIDENCE_BGRA = 31, + /** Confidence image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_CONFIDENCE_BGR = 32, + /** Confidence image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ + SL_VIEW_CONFIDENCE_GRAY = 33, + /** Alias of \ref SL_VIEW_NORMALS.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_NORMALS_BGRA = 34, + /** Normal image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_NORMALS_BGR = 35, + /** Normal image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ + SL_VIEW_NORMALS_GRAY = 36, + /** Alias of \ref SL_VIEW_DEPTH_RIGHT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_DEPTH_RIGHT_BGRA = 37, + /** Depth right image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_DEPTH_RIGHT_BGR = 38, + /** Depth right image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ + SL_VIEW_DEPTH_RIGHT_GRAY = 39, + /** Alias of \ref SL_VIEW_NORMALS_RIGHT.\n Type: \ref SL_MAT_TYPE_U8_C4 */ + SL_VIEW_NORMALS_RIGHT_BGRA = 40, + /** Normal right image in BGR pixel format: Type: \ref SL_MAT_TYPE_U8_C3 */ + SL_VIEW_NORMALS_RIGHT_BGR = 41, + /** Normal right image in gray scale: Type: \ref SL_MAT_TYPE_U8_C1 */ + SL_VIEW_NORMALS_RIGHT_GRAY = 42; /** \brief Lists the different states of object tracking. @@ -597,10 +658,12 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { */ /** enum SL_POSITIONAL_TRACKING_MODE */ public static final int - /** Default mode. Best compromise in performance and accuracy. */ + /** Default mode. Fast and stable mode. Requires depth computation. Less robust than GEN_3. */ SL_POSITIONAL_TRACKING_MODE_GEN_1 = 0, - /** Next generation of positional tracking, allow better accuracy. */ - SL_POSITIONAL_TRACKING_MODE_GEN_2 = 1; + /** @deprecated . */ + SL_POSITIONAL_TRACKING_MODE_GEN_2 = 1, + /** Fast and accurate, in both exploratory mode and mapped environments.\Note Can be used even if depth_mode is set to \ref SL_DEPTH_MODE_NONE. */ + SL_POSITIONAL_TRACKING_MODE_GEN_3 = 2; /** \brief Report the status of the positional tracking fusion. @@ -844,8 +907,12 @@ public class zed extends us.ihmc.zed.ZEDJavaAPIConfig { SL_OBJECT_SUBCLASS_CARROT = 21, /** \ref SL_OBJECT_CLASS_PERSON */ SL_OBJECT_SUBCLASS_PERSON_HEAD = 22, - /** \ref SL_OBJECT_CLASS_SPORT*/ - SL_OBJECT_SUBCLASS_SPORTSBALL = 23; + /** \ref SL_OBJECT_CLASS_SPORT */ + SL_OBJECT_SUBCLASS_SPORTSBALL = 23, + /** \ref SL_OBJECT_CLASS_VEHICLE */ + SL_OBJECT_SUBCLASS_MACHINERY = 24, + /** Last object subclass, used for iteration purposes. */ + SL_OBJECT_SUBCLASS_LAST = 25; /** \brief Lists the different states of an object's actions. @@ -1654,6 +1721,8 @@ the GNSSData parameter, which is currently set to UNKNOWN. To enhance the accura // #endif + public static native void sl_free(Pointer ptr); + /** \brief Forces unload of all instances. */ @@ -2482,6 +2551,30 @@ It corresponds to the structure given as argument to the sl_grab() function. */ public static native int sl_get_sensors_data(int camera_id, SL_SensorsData data, @Cast("SL_TIME_REFERENCE") int time_reference); + /** + \brief Retrieves the size of the imu batch array. Needs to be called before sl_get_sensors_data_batch(). + @param count [out] : The number of sensors data available in the batch. + @param camera_id : Id of the camera instance. + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if sensors data have been extracted. + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_SENSORS_NOT_AVAILABLE" if the camera model is a \ref SL_MODEL "SL_MODEL_ZED". + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct but the sensors module is not opened. + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the reference_time is not valid. + */ + public static native int sl_get_sensors_data_batch_count(int camera_id, IntPointer count); + public static native int sl_get_sensors_data_batch_count(int camera_id, IntBuffer count); + public static native int sl_get_sensors_data_batch_count(int camera_id, int[] count); + /** + \brief Retrieves all SL_SensorsData associated to most recent grabbed frame in the specified \ref COORDINATE_SYSTEM of InitParameters. + \note sl_get_sensors_data_batch needs to be called before this function to retrieve the size of the imu batch array. + @param data [out] : The SensorsData array to store the data. + @param camera_id : Id of the camera instance. + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_SUCCESS" if sensors data have been extracted. + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_SENSORS_NOT_AVAILABLE" if the camera model is a \ref SL_MODEL "SL_MODEL_ZED". + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_MOTION_SENSORS_REQUIRED" if the camera model is correct but the sensors module is not opened. + @return \ref SL_ERROR_CODE "SL_ERROR_CODE_INVALID_FUNCTION_PARAMETERS" if the reference_time is not valid. + */ + public static native int sl_get_sensors_data_batch(int camera_id, @Cast("SL_SensorsData**") PointerPointer data); + public static native int sl_get_sensors_data_batch(int camera_id, @ByPtrPtr SL_SensorsData data); ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////// Spatial Mapping /////////////////////////////////////////////////////////////////////// @@ -2991,9 +3084,8 @@ Vertex and triangles arrays must be at least of the sizes returned by update_mes /** \brief Initializes and starts object detection module. - The object detection module currently supports multiple class of objects with the \ref SL_OBJECT_DETECTION_MODEL "SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX" - or \ref SL_OBJECT_DETECTION_MODEL "SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_ACCURATE". - \n The full list of detectable objects is available through \ref SL_OBJECT_CLASS and \ref SL_OBJECT_SUBCLASS. + The object detection module currently support multiple StereoLabs' model for different purposes: "MULTI_CLASS", "PERSON_HEAD" + \n The full list of model is available through \ref SL_OBJECT_DETECTION_MODEL and the full list of detectable objects is available through \ref SL_OBJECT_CLASS and \ref SL_OBJECT_SUBCLASS.
\note - This Deep Learning detection module is not available for \ref MODEL "MODEL::ZED" cameras (ZED first generation).. \note - This feature uses AI to locate objects and requires a powerful GPU. A GPU with at least 3GB of memory is recommended. @@ -3106,6 +3198,10 @@ Vertex and triangles arrays must be at least of the sizes returned by update_mes public static native int sl_generate_unique_id(@Cast("char*") ByteBuffer uuid); public static native int sl_generate_unique_id(@Cast("char*") byte[] uuid); + public static native int sl_generate_unique_id_str(@Cast("char*") BytePointer uuid); + public static native int sl_generate_unique_id_str(@Cast("char*") ByteBuffer uuid); + public static native int sl_generate_unique_id_str(@Cast("char*") byte[] uuid); + /** \brief Feed the 3D Object tracking function with your own 2D bounding boxes from your own detection algorithm. @param camera_id : Id of the camera instance. diff --git a/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java b/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java index f232c0f..a33e22c 100644 --- a/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java +++ b/src/main/java/us/ihmc/zed/library/ZEDJavaAPINativeLibrary.java @@ -13,7 +13,7 @@ public class ZEDJavaAPINativeLibrary implements NativeLibraryDescription { private static final int ZED_SDK_COMPATIBILITY_MAJOR_VERSION = 5; - private static final int ZED_SDK_COMPATIBILITY_MINOR_VERSION = 0; + private static final int ZED_SDK_COMPATIBILITY_MINOR_VERSION = 1; @Override public String getPackage(OperatingSystem os, Architecture arch) { diff --git a/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so b/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so index 9ceb8a2..90e7202 100755 Binary files a/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so and b/src/main/resources/zed-java-api/native/linux-arm64/libjnized.so differ diff --git a/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so b/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so index 39431e2..9b23a84 100644 Binary files a/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so and b/src/main/resources/zed-java-api/native/linux-arm64/libsl_zed_c.so differ diff --git a/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so b/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so index bf49efb..2bc93f7 100755 Binary files a/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so and b/src/main/resources/zed-java-api/native/linux-x86_64/libjnized.so differ diff --git a/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so b/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so index 63a5eb3..3209bf8 100644 Binary files a/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so and b/src/main/resources/zed-java-api/native/linux-x86_64/libsl_zed_c.so differ diff --git a/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll b/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll index a9f947b..c25e2a6 100644 Binary files a/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll and b/src/main/resources/zed-java-api/native/windows-x86_64/jnized.dll differ diff --git a/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll b/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll index f18ae66..93aed86 100644 Binary files a/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll and b/src/main/resources/zed-java-api/native/windows-x86_64/sl_zed_c.dll differ