Add support for ZED SDK 4.1

exts/sl.sensor.camera/config/extension.toml

@@ -1,7 +1,7 @@
 
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.0.3"
+version = "1.1.0"
 
 # Lists people or organizations that are considered the "authors" of the package.
 authors = ["Stereolabs"]

exts/sl.sensor.camera/docs/CHANGELOG.md

@@ -2,7 +2,10 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
-## [1.0.3] - 2024-02-28
+## [1.1.0] - 2024-04-04
+- Add support for ZED SDK 4.1
+
+## [1.0.3] - 2024-02-16
 - Add FPS and resolution parameters in Isaac Sim GUI
 - Add throttling of data fetch to improve performance on low FPS
 

exts/sl.sensor.camera/sl/sensor/camera/nodes/SlCameraStreamer.ogn

@@ -49,11 +49,11 @@
             },
             "serial_number": {
                 "type": "uint",
-                "description": "Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 20976320, 29123828, 25626933, 27890353, 25263213, 21116066, 27800035, 27706147",
+                "description": "Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 40976320, 41116066, 49123828, 45626933, 47890353, 45263213, 47800035, 47706147",
                 "metadata": {
                     "uiName": "Serial number"
                 },
-                "default" : 20976320
+                "default" : 40976320
             },
             "use_system_time": {
                 "type": "bool",

exts/sl.sensor.camera/sl/sensor/camera/nodes/SlCameraStreamer.py

@@ -15,7 +15,6 @@
 import copy
 from sl.sensor.camera.ogn.SlCameraStreamerDatabase import SlCameraStreamerDatabase
 
-STREAM_PORT = 30000
 LEFT_CAMERA_PATH = "/base_link/ZED_X/CameraLeft"
 RIGHT_CAMERA_PATH = "/base_link/ZED_X/CameraRight"
 IMU_PRIM_PATH = "/base_link/ZED_X/Imu_Sensor"
@@ -226,7 +225,11 @@ def compute(db) -> bool:
             streamer_params.serial_number = serial_number
             streamer_params.port = port
             streamer_params.codec_type = 1
-            db.internal_state.pyzed_streamer.init(streamer_params)
+
+            init_error = db.internal_state.pyzed_streamer.init(streamer_params)
+            if not init_error:
+                carb.log_error(f"Failed to initialize the ZED SDK streamer with serial number {serial_number}.")
+                return False
 
             # set state to initialized
             carb.log_info(f"Streaming camera {db.internal_state.camera_prim_name} at port {port} and using serial number {serial_number}.")
@@ -239,6 +242,7 @@ def compute(db) -> bool:
             ts : int = 0
             if db.internal_state.initialized is True:
                 left, right = None, None
+                # Get simulation time in seconds
                 current_time = db.internal_state.core_nodes_interface.get_sim_time()
 
                 # Reset last_timestamp between different play sessions
@@ -276,13 +280,14 @@ def compute(db) -> bool:
                 if db.internal_state.start_time == -1:
                     carb.log_info(f"{db.internal_state.camera_prim_name} - Starting stream to the ZED SDK")
                 if db.internal_state.start_time == -1 or current_time < db.internal_state.last_timestamp:
-                    db.internal_state.start_time = int(time.time() * 1000)
+                    db.internal_state.start_time = int(time.time_ns())
                     carb.log_info(f"{db.internal_state.camera_prim_name} - Setting initial streaming time stamp to: {db.internal_state.start_time}")
-                ts = int(db.internal_state.start_time + current_time * 1000)
+
+                ts = int(db.internal_state.start_time + current_time * 1000000000)
 
                 # override with system time
                 if db.internal_state.override_simulation_time:
-                    ts = int(time.time() * 1000)
+                    ts = int(time.time_ns())
 
                 # fetch IMU data if the imu prim is there - this check allows user to basically delete
                 # their IMUand still have access to the image functionality without issues in Isaac Sim

exts/sl.sensor.camera/sl/sensor/camera/ogn/SlCameraStreamerDatabase.py

@@ -36,7 +36,7 @@ class SlCameraStreamerDatabase(og.Database):
         ('inputs:exec_in', 'execution', 0, 'ExecIn', 'Triggers execution', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''),
         ('inputs:resolution', 'token', 0, 'Resolution', 'Camera stream resolution. Can be either HD1080, HD720 or VGA', {ogn.MetadataKeys.DEFAULT: 'HD720'}, True, "HD720", False, ''),
         ('inputs:fps', 'uint', 0, 'FPS', 'Camera stream frame rate. Can be either 60, 30 or 15', {ogn.MetadataKeys.DEFAULT: '30'}, True, '30', False, ''),
-        ('inputs:serial_number', 'uint', 0, 'Serial number', 'Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 20976320, 29123828, 25626933, 27890353, 25263213, 21116066, 27800035, 27706147', {ogn.MetadataKeys.DEFAULT: '20976320'}, True, 20976320, False, ''),
+        ('inputs:serial_number', 'uint', 0, 'Serial number', 'Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 40976320, 41116066, 49123828, 45626933, 47890353, 45263213, 47800035, 47706147', {ogn.MetadataKeys.DEFAULT: '40976320'}, True, 40976320, False, ''),
         ('inputs:streaming_port', 'uint', 0, 'Streaming port', 'Streaming port - unique per camera', {ogn.MetadataKeys.DEFAULT: '30000'}, True, 30000, False, ''),
         ('inputs:use_system_time', 'bool', 0, 'Use system time', 'Override simulation time with system time for image timestamps', {ogn.MetadataKeys.DEFAULT: 'false'}, True, False, False, ''),
     ])
@@ -56,7 +56,7 @@ def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttr
             super().__init__(context, node, attributes, dynamic_attributes)
             self.__bundles = og.BundleContainer(context, node, attributes, [], read_only=True, gpu_ptr_kinds={})
             self._batchedReadAttributes = [self._attributes.exec_in, self._attributes.resolution, self._attributes.fps, self._attributes.serial_number, self._attributes.streaming_port, self._attributes.use_system_time]
-            self._batchedReadValues = [0, "HD720", "30", 20976320, 30000, False]
+            self._batchedReadValues = [0, "HD720", "30", 40976320, 30000, False]
 
         @property
         def camera_prim(self) -> og.BundleContents:

exts/sl.sensor.camera/sl/sensor/camera/ogn/docs/SlCameraStreamer.rst

@@ -42,7 +42,7 @@ Streams ZED camera data to the ZED SDK
 sl.sensor.camera.ZED_Camera Inputs
 ----------------------------------
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| Name                   | Type      | Default         | Required? | Descripton                                                                                                                                                                                                 |
+| Name                   | Type      | Default         | Required? | Description                                                                                                                                                                                                 |
 +========================+===========+=================+===========+============================================================================================================================================================================================================+
 | inputs:camera_prim     | bundle    | None            | **Y**     | ZED Camera prim used to stream data                                                                                                                                                                        |
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
@@ -54,11 +54,11 @@ sl.sensor.camera.ZED_Camera Inputs
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 |                        | __default | 0               |           |                                                                                                                                                                                                            |
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-| inputs:serial_number   | uint      | 20976320        | **Y**     | Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 20976320, 29123828, 25626933, 27890353, 25263213, 21116066, 27800035, 27706147 |
+| inputs:serial_number   | uint      | 40976320        | **Y**     | Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 40976320, 41116066, 49123828, 45626933, 47890353, 45263213, 47800035, 47706147 |
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 |                        | uiName    | Serial number   |           |                                                                                                                                                                                                            |
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
-|                        | __default | 20976320        |           |                                                                                                                                                                                                            |
+|                        | __default | 40976320        |           |                                                                                                                                                                                                            |
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | inputs:streaming_port  | uint      | 30000           | **Y**     | Streaming port - unique per camera                                                                                                                                                                         |
 +------------------------+-----------+-----------------+-----------+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

exts/sl.sensor.camera/sl/sensor/camera/ogn/tests/TestSlCameraStreamer.py

@@ -40,7 +40,7 @@ def _attr_error(attribute: og.Attribute, usd_test: bool) -> str:
         self.assertTrue(test_node.get_attribute_exists("inputs:serial_number"))
         attribute = test_node.get_attribute("inputs:serial_number")
         db_value = database.inputs.serial_number
-        expected_value = 20976320
+        expected_value = 40976320
         actual_value = og.Controller.get(attribute)
         ogts.verify_values(expected_value, actual_value, _attr_error(attribute, True))
         ogts.verify_values(expected_value, db_value, _attr_error(attribute, False))

exts/sl.sensor.camera/sl/sensor/camera/ogn/tests/usd/SlCameraStreamerTemplate.usda

@@ -25,8 +25,8 @@ def OmniGraph "TestGraph"
         custom uint inputs:exec_in = 0 (
             docs="""Triggers execution"""
         )
-        custom uint inputs:serial_number = 20976320 (
-            docs="""Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 20976320, 29123828, 25626933, 27890353, 25263213, 21116066, 27800035, 27706147"""
+        custom uint inputs:serial_number = 40976320 (
+            docs="""Serial number (identification) of the camera to stream, can be left to default. It must be of one of the compatible values: 40976320, 41116066, 49123828, 45626933, 47890353, 45263213, 47800035, 47706147"""
         )
         custom uint inputs:streaming_port = 30000 (
             docs="""Streaming port - unique per camera"""