4.1.0 (#628)

README.md

@@ -32,17 +32,17 @@
 
 ---
 
-:tada: The **ZED SDK 4.0** is released! We support the [**ZED X**](https://www.stereolabs.com/zed-x/) and [**ZED X Mini**](https://www.stereolabs.com/zed-x/) cameras, added the **Fusion API** for multi-camera Body Tracking, and more! Please check the [Release Notes](https://www.stereolabs.com/developers/release/) of the latest version for more details.
+:tada: The **ZED SDK 4.1** is released! We support the [**ZED X**](https://www.stereolabs.com/zed-x/) and [**ZED X Mini**](https://www.stereolabs.com/zed-x/) cameras, added the **Fusion API** for multi-camera Body Tracking, and more! Please check the [Release Notes](https://www.stereolabs.com/developers/release/) of the latest version for more details.
 
 ## Overview
 
 Depth Sensing | Object Detection | Body Tracking |
 :------------: |  :----------: | :-------------:  |
 [![Depth Sensing](https://user-images.githubusercontent.com/32394882/230639409-356b8dfa-df66-4bc2-84d8-a25fd0229779.gif)](https://www.stereolabs.com/docs/depth-sensing)  | [![Object Detection](https://user-images.githubusercontent.com/32394882/230630901-9d53502a-f3f9-45b6-bf57-027148bb18ad.gif)](https://www.stereolabs.com/docs/object-detection)  | [![Body Tracking](https://user-images.githubusercontent.com/32394882/230631989-24dd2b58-2c85-451b-a4ed-558d74d1b922.gif)](https://www.stereolabs.com/docs/body-tracking)  |
 
-Positional Tracking | Geo Tracking | Spatial Mapping |
+Positional Tracking | Global Localization | Spatial Mapping |
 :------------: |  :----------: | :-------------:  |
-[![Positional Tracking](https://user-images.githubusercontent.com/32394882/229093429-a445e8ae-7109-4995-bc1d-6a27a61bdb60.gif)](https://www.stereolabs.com/docs/positional-tracking/) | [![GeoTracking](https://user-images.githubusercontent.com/32394882/230602944-ed61e6dd-e485-4911-8a4c-d6c9e4fab0fd.gif)](/geotracking) | [![Spatial Mapping](https://user-images.githubusercontent.com/32394882/229099549-63ca7832-b7a2-42eb-9971-c1635d205b0c.gif)](https://www.stereolabs.com/docs/spatial-mapping) |
+[![Positional Tracking](https://user-images.githubusercontent.com/32394882/229093429-a445e8ae-7109-4995-bc1d-6a27a61bdb60.gif)](https://www.stereolabs.com/docs/positional-tracking/) | [![Global Localization](https://user-images.githubusercontent.com/32394882/230602944-ed61e6dd-e485-4911-8a4c-d6c9e4fab0fd.gif)](/global%20localization) | [![Spatial Mapping](https://user-images.githubusercontent.com/32394882/229099549-63ca7832-b7a2-42eb-9971-c1635d205b0c.gif)](https://www.stereolabs.com/docs/spatial-mapping) |
 
 Camera Control | Plane Detection | Multi Camera Fusion |
 :------------: |  :----------: | :-------------:  |
@@ -83,7 +83,7 @@ This repository contains ready-to-use and samples to start using the ZED SDK wit
 
 * [**Positional Tracking**](/positional%20tracking) - This sample shows how to use **positional tracking** and display the result with *OpenGL*.
 
-* [**GeoTracking**](/geotracking) - This sample shows how to fuse the ZED SDK's **positional tracking with GNSS data** for global positioning.
+* [**Global Localization**](/global%20localization) - This sample shows how to fuse the ZED SDK's **positional tracking with GNSS data** for global positioning.
 
 * [**Spatial Mapping**](/spatial%20mapping) - This sample shows how to capture **3D meshes** with the ZED and display it with *OpenGL*. Classic Mesh and Point Cloud fusion are available.
 
@@ -127,16 +127,6 @@ Thanks to its comprehensive API, ZED cameras can be interfaced with **multiple t
 | <div align="center"><a href="https://www.stereolabs.com/docs/pytorch"><img src="https://user-images.githubusercontent.com/32394882/229475918-1add790d-b10e-4529-a1d7-097f015a481f.png" width="70%" alt="" /></a></div>  | <div align="center"><a href="https://www.stereolabs.com/docs/yolo/"><img src="https://user-images.githubusercontent.com/32394882/230623781-3c87a5c9-b6af-4f93-bcc7-5ec381acf5d7.png" width="70%" alt="" /></a></div> | <div align="center"><a href="https://www.stereolabs.com/docs/matlab/"><img src="https://user-images.githubusercontent.com/32394882/229472074-4747f789-4ce6-4aef-b4f7-eab3bb77ab52.png" width="70%" alt="" /></a></div> | <div align="center"><a href="https://www.stereolabs.com/"><img src="https://user-images.githubusercontent.com/32394882/229472012-fe8d4458-219b-4825-8e87-9a3e9bc55e62.png" width="70%" alt="" /></a></div> | <div align="center"><a href="https://derivative.ca/UserGuide/ZED"><img src="https://user-images.githubusercontent.com/32394882/230623653-630e7bd2-1300-47ad-8133-39543470b2b1.png" width="70%" alt="" /></a></div>
 
 
-## ZED Hub
-
-Experience ZED like never before with [ZED Hub](https://hub.stereolabs.com), Stereolabs' IoT platform allowing **easy management of camera fleets** and **data aggregation**, fully managed on the cloud. Unlike competitors, ZED Hub offers **plug-and-play** functionality and dedicated features for your applications developed with the ZED SDK. ZED Hub simplifies the **integration of 3D perception**, offering **remote access** and **monitoring** to your cameras . Start for **Free** now!
-
-<br />
-
-<div align="center">
-  <img src="https://cdn2.stereolabs.com/assets/images/zed-hub/zed-hub-workflow.png" width="60%"/>
-</div>
-
 <br />
 
 ## Community

body tracking/body tracking/cpp/include/GLViewer.hpp

@@ -129,15 +129,15 @@ class Shader {
 
     Shader() {
     }
-    Shader(GLchar* vs, GLchar* fs);
+    Shader(const GLchar* vs, const GLchar* fs);
     ~Shader();
     GLuint getProgramId();
 
     static const GLint ATTRIB_VERTICES_POS = 0;
     static const GLint ATTRIB_COLOR_POS = 1;
     static const GLint ATTRIB_NORMAL = 2;
 private:
-    bool compile(GLuint &shaderId, GLenum type, GLchar* src);
+    bool compile(GLuint &shaderId, GLenum type, const GLchar* src);
     GLuint verterxId_;
     GLuint fragmentId_;
     GLuint programId_;

body tracking/body tracking/cpp/src/GLViewer.cpp

@@ -5,7 +5,7 @@
 #error "This sample should not be built in Debug mode, use RelWithDebInfo if you want to do step by step."
 #endif
 
-GLchar* VERTEX_SHADER =
+const GLchar* VERTEX_SHADER =
         "#version 330 core\n"
         "layout(location = 0) in vec3 in_Vertex;\n"
         "layout(location = 1) in vec4 in_Color;\n"
@@ -16,15 +16,15 @@ GLchar* VERTEX_SHADER =
         "	gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n"
         "}";
 
-GLchar* FRAGMENT_SHADER =
+const GLchar* FRAGMENT_SHADER =
         "#version 330 core\n"
         "in vec4 b_color;\n"
         "layout(location = 0) out vec4 out_Color;\n"
         "void main() {\n"
         "   out_Color = b_color;\n"
         "}";
 
-GLchar* SK_VERTEX_SHADER =
+const GLchar* SK_VERTEX_SHADER =
         "#version 330 core\n"
         "layout(location = 0) in vec3 in_Vertex;\n"
         "layout(location = 1) in vec4 in_Color;\n"
@@ -41,7 +41,7 @@ GLchar* SK_VERTEX_SHADER =
         "	gl_Position =  u_mvpMatrix * vec4(in_Vertex, 1);\n"
         "}";
 
-GLchar* SK_FRAGMENT_SHADER =
+const GLchar* SK_FRAGMENT_SHADER =
         "#version 330 core\n"
         "in vec4 b_color;\n"
         "in vec3 b_position;\n"
@@ -731,7 +731,7 @@ sl::Transform Simple3DObject::getModelMatrix() const {
     return tmp;
 }
 
-Shader::Shader(GLchar* vs, GLchar* fs) {
+Shader::Shader(const GLchar* vs, const GLchar* fs) {
     if (!compile(verterxId_, GL_VERTEX_SHADER, vs)) {
         std::cout << "ERROR: while compiling vertex shader" << std::endl;
     }
@@ -779,7 +779,7 @@ GLuint Shader::getProgramId() {
     return programId_;
 }
 
-bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) {
+bool Shader::compile(GLuint &shaderId, GLenum type, const GLchar* src) {
     shaderId = glCreateShader(type);
     if (shaderId == 0) {
         std::cout << "ERROR: shader type (" << type << ") does not exist" << std::endl;

body tracking/body tracking/cpp/src/main.cpp

@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2023, STEREOLABS.
+// Copyright (c) 2024, STEREOLABS.
 //
 // All rights reserved.
 //
@@ -50,7 +50,8 @@ int main(int argc, char **argv) {
     Camera zed;
     InitParameters init_parameters;
     init_parameters.camera_resolution = RESOLUTION::AUTO;
-    init_parameters.depth_mode = DEPTH_MODE::ULTRA;
+    init_parameters.depth_mode = isJetson ? DEPTH_MODE::PERFORMANCE : DEPTH_MODE::ULTRA;
+    //init_parameters.depth_mode = DEPTH_MODE::ULTRA;
     init_parameters.coordinate_system = COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP;
 
     parseArgs(argc, argv, init_parameters);
@@ -78,7 +79,7 @@ int main(int argc, char **argv) {
     // Enable the Body tracking module
     BodyTrackingParameters body_tracker_params;
     body_tracker_params.enable_tracking = true; // track people across images flow
-    body_tracker_params.enable_body_fitting = true; // smooth skeletons moves
+    body_tracker_params.enable_body_fitting = false; // smooth skeletons moves
     body_tracker_params.body_format = sl::BODY_FORMAT::BODY_34;
     body_tracker_params.detection_model = isJetson ? BODY_TRACKING_MODEL::HUMAN_BODY_FAST : BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE;
     //body_tracker_params.allow_reduced_precision_inference = true;
@@ -111,7 +112,7 @@ int main(int argc, char **argv) {
 
     // Configure object detection runtime parameters
     BodyTrackingRuntimeParameters body_tracker_parameters_rt;
-    body_tracker_parameters_rt.detection_confidence_threshold = 60;
+    body_tracker_parameters_rt.detection_confidence_threshold = 40;
     body_tracker_parameters_rt.skeleton_smoothing = 0.7;
 
     // Create ZED Bodies filled in the main loop
@@ -221,4 +222,4 @@ void print(string msg_prefix, ERROR_CODE err_code, string msg_suffix) {
     if (!msg_suffix.empty())
         cout << " " << msg_suffix;
     cout << endl;
-}
+}

body tracking/body tracking/csharp/MainWindow.cs

@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2023, STEREOLABS.
+// Copyright (c) 2024, STEREOLABS.
 //
 // All rights reserved.
 //

body tracking/body tracking/csharp/Properties/AssemblyInfo.cs

@@ -10,7 +10,7 @@
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
 [assembly: AssemblyProduct("Tutorials")]
-[assembly: AssemblyCopyright("Copyright ©  2021")]
+[assembly: AssemblyCopyright("Copyright ©  2024")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 

body tracking/export/JSON export/cpp/include/GLViewer.hpp

@@ -129,15 +129,15 @@ class Shader {
 
     Shader() {
     }
-    Shader(GLchar* vs, GLchar* fs);
+    Shader(const GLchar* vs, const GLchar* fs);
     ~Shader();
     GLuint getProgramId();
 
     static const GLint ATTRIB_VERTICES_POS = 0;
     static const GLint ATTRIB_COLOR_POS = 1;
     static const GLint ATTRIB_NORMAL = 2;
 private:
-    bool compile(GLuint &shaderId, GLenum type, GLchar* src);
+    bool compile(GLuint &shaderId, GLenum type, const GLchar* src);
     GLuint verterxId_;
     GLuint fragmentId_;
     GLuint programId_;

body tracking/export/JSON export/cpp/src/GLViewer.cpp

@@ -5,7 +5,7 @@
 #error "This sample should not be built in Debug mode, use RelWithDebInfo if you want to do step by step."
 #endif
 
-GLchar* VERTEX_SHADER =
+const GLchar* VERTEX_SHADER =
         "#version 330 core\n"
         "layout(location = 0) in vec3 in_Vertex;\n"
         "layout(location = 1) in vec4 in_Color;\n"
@@ -16,15 +16,15 @@ GLchar* VERTEX_SHADER =
         "	gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n"
         "}";
 
-GLchar* FRAGMENT_SHADER =
+const GLchar* FRAGMENT_SHADER =
         "#version 330 core\n"
         "in vec4 b_color;\n"
         "layout(location = 0) out vec4 out_Color;\n"
         "void main() {\n"
         "   out_Color = b_color;\n"
         "}";
 
-GLchar* SK_VERTEX_SHADER =
+const GLchar* SK_VERTEX_SHADER =
         "#version 330 core\n"
         "layout(location = 0) in vec3 in_Vertex;\n"
         "layout(location = 1) in vec4 in_Color;\n"
@@ -41,7 +41,7 @@ GLchar* SK_VERTEX_SHADER =
         "	gl_Position =  u_mvpMatrix * vec4(in_Vertex, 1);\n"
         "}";
 
-GLchar* SK_FRAGMENT_SHADER =
+const GLchar* SK_FRAGMENT_SHADER =
         "#version 330 core\n"
         "in vec4 b_color;\n"
         "in vec3 b_position;\n"
@@ -720,7 +720,7 @@ sl::Transform Simple3DObject::getModelMatrix() const {
     return tmp;
 }
 
-Shader::Shader(GLchar* vs, GLchar* fs) {
+Shader::Shader(const GLchar* vs, const GLchar* fs) {
     if (!compile(verterxId_, GL_VERTEX_SHADER, vs)) {
         std::cout << "ERROR: while compiling vertex shader" << std::endl;
     }
@@ -768,7 +768,7 @@ GLuint Shader::getProgramId() {
     return programId_;
 }
 
-bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) {
+bool Shader::compile(GLuint &shaderId, GLenum type, const GLchar* src) {
     shaderId = glCreateShader(type);
     if (shaderId == 0) {
         std::cout << "ERROR: shader type (" << type << ") does not exist" << std::endl;

body tracking/export/JSON export/cpp/src/main.cpp

@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2023, STEREOLABS.
+// Copyright (c) 2024, STEREOLABS.
 //
 // All rights reserved.
 //

body tracking/export/fbx export/cpp/include/utils.hpp

@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2023, STEREOLABS.
+// Copyright (c) 2024, STEREOLABS.
 //
 // All rights reserved.
 //

body tracking/export/fbx export/cpp/src/main.cpp

@@ -1,6 +1,6 @@
 ///////////////////////////////////////////////////////////////////////////
 //
-// Copyright (c) 2023, STEREOLABS.
+// Copyright (c) 2024, STEREOLABS.
 //
 // All rights reserved.
 //

body tracking/multi-camera/cpp/include/GLViewer.hpp

@@ -30,15 +30,15 @@ class Shader {
 
     Shader() {
     }
-    Shader(GLchar* vs, GLchar* fs);
+    Shader(const GLchar* vs, const GLchar* fs);
     ~Shader();
     GLuint getProgramId();
 
     static const GLint ATTRIB_VERTICES_POS = 0;
     static const GLint ATTRIB_COLOR_POS = 1;
     static const GLint ATTRIB_NORMAL = 2;
 private:
-    bool compile(GLuint &shaderId, GLenum type, GLchar* src);
+    bool compile(GLuint &shaderId, GLenum type, const GLchar* src);
     GLuint verterxId_;
     GLuint fragmentId_;
     GLuint programId_;

body tracking/multi-camera/cpp/src/GLViewer.cpp

@@ -1,6 +1,6 @@
 #include "GLViewer.hpp"
 
-GLchar* VERTEX_SHADER =
+const GLchar* VERTEX_SHADER =
         "#version 330 core\n"
         "layout(location = 0) in vec3 in_Vertex;\n"
         "layout(location = 1) in vec3 in_Color;\n"
@@ -11,7 +11,7 @@ GLchar* VERTEX_SHADER =
         "   gl_Position = u_mvpMatrix * vec4(in_Vertex, 1);\n"
         "}";
 
-GLchar* FRAGMENT_SHADER =
+const GLchar* FRAGMENT_SHADER =
         "#version 330 core\n"
         "in vec3 b_color;\n"
         "layout(location = 0) out vec4 color;\n"
@@ -20,7 +20,7 @@ GLchar* FRAGMENT_SHADER =
         "}";
 
 
-GLchar* POINTCLOUD_VERTEX_SHADER =
+const GLchar* POINTCLOUD_VERTEX_SHADER =
         "#version 330 core\n"
         "layout(location = 0) in vec4 in_VertexRGBA;\n"
         "out vec4 b_color;\n"
@@ -39,15 +39,15 @@ GLchar* POINTCLOUD_VERTEX_SHADER =
         "   gl_Position = u_mvpMatrix * vec4(in_VertexRGBA.xyz, 1);\n"
         "}";
 
-GLchar* POINTCLOUD_FRAGMENT_SHADER =
+const GLchar* POINTCLOUD_FRAGMENT_SHADER =
         "#version 330 core\n"
         "in vec4 b_color;\n"
         "layout(location = 0) out vec4 out_Color;\n"
         "void main() {\n"
         "   out_Color = b_color;\n"
         "}";
 
-GLchar* VERTEX_SHADER_TEXTURE =
+const GLchar* VERTEX_SHADER_TEXTURE =
         "#version 330 core\n"
         "layout(location = 0) in vec3 in_Vertex;\n"
         "layout(location = 1) in vec2 in_UVs;\n"
@@ -58,7 +58,7 @@ GLchar* VERTEX_SHADER_TEXTURE =
         "    UV = in_UVs;\n"
         "}\n";
 
-GLchar* FRAGMENT_SHADER_TEXTURE =
+const GLchar* FRAGMENT_SHADER_TEXTURE =
         "#version 330 core\n"
         "in vec2 UV;\n"
         "uniform sampler2D texture_sampler;\n"
@@ -651,7 +651,7 @@ void Simple3DObject::draw() {
     glBindVertexArray(0);
 }
 
-Shader::Shader(GLchar* vs, GLchar* fs) {
+Shader::Shader(const GLchar* vs, const GLchar* fs) {
     if (!compile(verterxId_, GL_VERTEX_SHADER, vs)) {
         std::cout << "ERROR: while compiling vertex shader" << std::endl;
     }
@@ -699,7 +699,7 @@ GLuint Shader::getProgramId() {
     return programId_;
 }
 
-bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) {
+bool Shader::compile(GLuint &shaderId, GLenum type, const GLchar* src) {
     shaderId = glCreateShader(type);
     if (shaderId == 0) {
         std::cout << "ERROR: shader type (" << type << ") does not exist" << std::endl;
@@ -727,7 +727,7 @@ bool Shader::compile(GLuint &shaderId, GLenum type, GLchar* src) {
     return true;
 }
 
-GLchar* IMAGE_FRAGMENT_SHADER =
+const GLchar* IMAGE_FRAGMENT_SHADER =
         "#version 330 core\n"
         " in vec2 UV;\n"
         " out vec4 color;\n"
@@ -739,7 +739,7 @@ GLchar* IMAGE_FRAGMENT_SHADER =
         "	color = vec4(color_rgb,1);\n"
         "}";
 
-GLchar* IMAGE_VERTEX_SHADER =
+const GLchar* IMAGE_VERTEX_SHADER =
         "#version 330\n"
         "layout(location = 0) in vec3 vert;\n"
         "out vec2 UV;"