Merge pull request #40 from stereolabs/v4.2.1

V4.2.1

Author: Bvallon-sl

.gitignore

@@ -38,4 +38,5 @@ _compiler
 source/
 
 exts/sl.sensor.camera/bin/libsl.sensor.camera.plugin.so
-exts/sl.sensor.camera/bin/sl.sensor.camera.plugin.dll
+exts/sl.sensor.camera/bin/sl.sensor.camera.plugin.dll
+exts/sl.sensor.camera/sl/sensor/camera/ogn/__ogn_files_prebuilt

build.bat

@@ -65,4 +65,10 @@ echo [INFO] Syncing build artifacts...
 xcopy /e /i /y "%BUILD_PATH%\*" "%BIN_TARGET%"
 copy /y "%BIN_TARGET%\sl_zed64.dll" "%BUILD_PATH%\sl_zed64.dll" >nul
 
+REM 6. Remove generated __ogn_files_prebuilt file
+if exist "exts\sl.sensor.camera\sl\sensor\camera\ogn\__ogn_files_prebuilt" (
+    REM echo [INFO] Removing __ogn_files_prebuilt file...
+    del /f /q "exts\sl.sensor.camera\sl\sensor\camera\ogn\__ogn_files_prebuilt"
+)
+
 echo [SUCCESS] Process complete.

build.sh

@@ -35,4 +35,10 @@ cp -r $BUILD_PATH/* "exts/sl.sensor.camera/bin/"
 
 cp "exts/sl.sensor.camera/bin/libsl_zed.so" "$BUILD_PATH/libsl_zed.so"
 
+# Remove generated __ogn_files_prebuilt file
+if [ -f "exts/sl.sensor.camera/sl/sensor/camera/ogn/__ogn_files_prebuilt" ]; then
+    #echo "Removing __ogn_files_prebuilt file..."
+    rm -f "exts/sl.sensor.camera/sl/sensor/camera/ogn/__ogn_files_prebuilt"
+fi
+
 #rm -rf _compiler _deps _repo

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

@@ -1,5 +1,5 @@
 [package]
-version = "4.2.0" # Semantic Versioning is used: https://semver.org/
+version = "4.2.1" # Semantic Versioning is used: https://semver.org/
 
 # These fields are used primarily for display in the extension browser UI.
 title = "Stereolabs ZED Camera"

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

@@ -2,6 +2,9 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
+## [4.2.1]
+- Fix streaming of 4mm camera models (ZED X and ZED XM).
+
 ## [4.2.0]
 - Add the option to change streaming bitrate and chunksize when streaming over network.
 - Add the option to stream over both IPC and network simultaneously.

exts/sl.sensor.camera/sl/sensor/camera/annotators.py

@@ -272,7 +272,7 @@ def build_graph(self, cams) -> None:
         self.sync_node.get_attribute("outputs:rationalTimeDenominator").connect(self.sim_time.get_attribute("inputs:referenceTimeDenominator"), True)
         self.sync_node.get_attribute("outputs:rationalTimeNumerator").connect(self.sim_time.get_attribute("inputs:referenceTimeNumerator"), True)
 
-        imu_path = "/base_link/" + self.camera_model + "/Imu_Sensor"
+        imu_path = "/base_link/" + get_camera_model(self.camera_model) + "/Imu_Sensor"
         imu_full_path = self.camera_prim_path[0].pathString + imu_path
         self.imu.get_attribute("inputs:imuPrim").set(imu_full_path)
         self.zed_.get_attribute("inputs:bitrate").set(self.bitrate)