Merge branch 'master' of github.com:stereolabs/zed-open-capture

Author: Myzhar

README.md

@@ -75,6 +75,11 @@ The open-source library provides methods to access raw video frames, calibration
 
     `$ sudo apt install opencv-dev`
 
+### Clone the repository
+
+    $ git clone https://github.com/stereolabs/zed-open-capture.git
+    $ cd zed-open-capture
+
 ### Add udev rule
 Stereo cameras such as ZED 2 and ZED Mini have built-in sensors (e.g. IMU) that are identified as USB HID devices.
 To be able to access the USB HID device, you must add a udev rule contained in the `udev` folder:
@@ -83,11 +88,6 @@ To be able to access the USB HID device, you must add a udev rule contained in t
     $ bash install_udev_rule.sh
     $ cd ..
 
-### Clone the repository
-
-    $ git clone https://github.com/stereolabs/zed-open-capture.git
-    $ cd zed-open-capture
-
 ### Build
 
 #### Build library and examples

changelog.md

@@ -1,7 +1,11 @@
 # Changelog
 
-v0.2 - 2012 06 10
+v0.2.1 - 2020 02 08
 -------------------
+* Fix FPS issue caused by wrong default timeout in `getLastFrame` function (see #10)
+
+v0.2 - 2020 06 10
+-----------------
 * Fix issue downloading camera settings for the rectification example
 * Documentation refactoring
 * New "sl_oc::video" namespace
@@ -11,7 +15,7 @@ v0.2 - 2012 06 10
 * Sensors data and image data are now returned as reference instead of pointer
 * Improved sensors data validity field
 
-v0.1 - 2012 06 04
+v0.1 - 2020 06 04
 -----------------
 * Video grabber 
 * Video grabber controls

examples/zed_oc_video_example.cpp

@@ -29,11 +29,17 @@
 #include <opencv2/highgui/highgui.hpp>
 // <---- Includes
 
+// #define TEST_FPS 1
+
 // The main function
 int main(int argc, char *argv[])
 {
     // ----> Create Video Capture
-    sl_oc::video::VideoCapture cap;
+    sl_oc::video::VideoParams params;
+    params.res = sl_oc::video::RESOLUTION::HD720;
+    params.fps = sl_oc::video::FPS::FPS_60;
+
+    sl_oc::video::VideoCapture cap(params);
     if( !cap.initializeVideo() )
     {
         std::cerr << "Cannot open camera video capture" << std::endl;
@@ -44,6 +50,15 @@ int main(int argc, char *argv[])
     std::cout << "Connected to camera sn: " << cap.getSerialNumber() << std::endl;
     // <---- Create Video Capture
 
+
+
+#ifdef TEST_FPS
+    // Timestamp to check FPS
+    double lastTime = static_cast<double>(getSteadyTimestamp())/1e9;
+    // Frame timestamp to check FPS
+    uint64_t lastFrameTs = 0;
+#endif
+
     // Infinite video grabbing loop
     while (1)
     {
@@ -53,6 +68,24 @@ int main(int argc, char *argv[])
         // ----> If the frame is valid we can display it
         if(frame.data!=nullptr)
         {
+#ifdef TEST_FPS
+            if(lastFrameTs!=0)
+            {
+                // ----> System time
+                double now = static_cast<double>(getSteadyTimestamp())/1e9;
+                double elapsed_sec = now - lastTime;
+                lastTime = now;
+                std::cout << "[System] Frame period: " << elapsed_sec << "sec - Freq: " << 1./elapsed_sec << " Hz" << std::endl;
+                // <---- System time
+
+                // ----> Frame time
+                double frame_dT = static_cast<double>(frame.timestamp-lastFrameTs)/1e9;
+                std::cout << "[Camera] Frame period: " << frame_dT << "sec - Freq: " << 1./frame_dT << " Hz" << std::endl;
+                // <---- Frame time
+            }
+            lastFrameTs = frame.timestamp;
+#endif
+
             // ----> Conversion from YUV 4:2:2 to BGR for visualization
             cv::Mat frameYUV = cv::Mat( frame.height, frame.width, CV_8UC2, frame.data );
             cv::Mat frameBGR;

include/videocapture.hpp

@@ -91,7 +91,7 @@ class SL_OC_EXPORT VideoCapture
      * \note Frame received will contains the RAW buffer from the camera, in YUV4:2:2 color format and in side by side mode.
      * Images must then be converted to RGB for proper display and will not be rectified.
      */
-    const Frame& getLastFrame(uint64_t timeout_msec=10);
+    const Frame& getLastFrame(uint64_t timeout_msec=100);
 
     /*!
      * \brief Get the size of the camera frame

src/videocapture.cpp

@@ -819,7 +819,11 @@ void VideoCapture::grabThreadFunc()
                 memcpy(mLastFrame.data, (unsigned char*) mBuffers[mCurrentIndex].start, mBuffers[mCurrentIndex].length);
                 mLastFrame.timestamp = mStartTs + rel_ts;
 
-                //std::cout << "Video:\t" << mLastFrame.timestamp << std::endl;
+//                static uint64_t last_ts=0;
+//                std::cout << "[Video] Frame TS: " << static_cast<double>(mLastFrame.timestamp)/1e9 << " sec" << std::endl;
+//                double dT = static_cast<double>(mLastFrame.timestamp-last_ts)/1e9;
+//                last_ts = mLastFrame.timestamp;
+//                std::cout << "[Video] Frame FPS: " << 1./dT << std::endl;
 
 #ifdef SENSORS_MOD_AVAILABLE
                 if(mSensReadyToSync)