Inp depth averaging #3

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fmz wants to merge 17 commits into main from inp-depth-averaging

.gitmodules

-Original file line number
+Diff line change
@@ -1,3 +1,6 @@
     [submodule "extern/spot-cpp-sdk"]
     	path = extern/spot-cpp-sdk
     	url = https://github.com/boston-dynamics/spot-cpp-sdk
+    [submodule "install"]
+    	path = install
+    	url = https://github.com/fmz/SpotObserver-release.git

CMakeLists.txt

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -27,10 +27,10 @@ if (NOT CUDAToolkit_FOUND)
  
    endif()

    message(STATUS "CUDAToolkit found: ${CUDAToolkit_VERSION}")

    set(SPOT_SDK_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/extern/spot-sdk-install)

    set(SPOT_SDK_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/extern/spot-cpp-sdk) # changed from sdk-install

    set(OpenCV_INCLUDES ${CMAKE_CURRENT_SOURCE_DIR}/extern/opencv/include)

    set(OpenCV_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/extern/opencv/x64/vc16/lib)

    set(OpenCV_LIBS opencv_world4110.lib)

    set(OpenCV_LIBS opencv_world4120.lib) # change from 4110

    # Force protobuf to come from vcpkg, not libtorch

    find_package(Protobuf REQUIRED PATHS "${Protobuf_ROOT}" NO_DEFAULT_PATH)

    @@ -51,7 +51,7 @@ endif()
  
    message(STATUS "Found libtorch: ${TORCH_LIBRARIES}")

    message(STATUS "Torch install prefix: ${TORCH_INSTALL_PREFIX}")

    set(ONNX_DIR ${CMAKE_CURRENT_SOURCE_DIR}/extern/onnxruntime-win-x64-gpu-1.22.0)

    set(ONNX_DIR ${CMAKE_CURRENT_SOURCE_DIR}/extern/onnxruntime-win-x64-gpu-1.23.0) # changed from 1.22.0

    # Check if ONNX_DIR exists

    if(NOT EXISTS ${ONNX_DIR})

        message(FATAL_ERROR "ONNX directory not found: ${ONNX_DIR}. Please ensure ONNX Runtime is correctly extracted.")

    @@ -182,8 +182,9 @@ if(COPY_DLLS)
  
        )

        # List of required OpenCV DLLs

        # changed from 4110

        set(OPENCV_DLLS

            "opencv_world4110.dll"

            "opencv_world4120.dll"

        )

        set(PLUGIN_DLLS

include/spot-observer.h

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -9,7 +9,25 @@
  
    #include "IUnityInterface.h"

    #ifdef __cplusplus

    extern "C" {

    #endif

    // Make dummy available to other files in namespace

    // change so all files use getter func?

    namespace SOb {

     extern bool dummy;

     extern int taken_from_dummy;

     extern bool going_up;

    }

    // Make avaiable to integ-test

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API getDummy();

    UNITY_INTERFACE_EXPORT

    void UNITY_INTERFACE_API setDummy(bool val);

    // Define a function pointer type for logging

    typedef void (*SOb_LogCallback)(const char* message);

    @@ -26,6 +44,7 @@ enum SpotCamera {
  
        NUM_CAMERAS = 0x40,

    };

    // Unity Stuff

    void UNITY_INTERFACE_EXPORT UNITY_INTERFACE_API UnityPluginLoad(IUnityInterfaces* unity);

    void UNITY_INTERFACE_EXPORT UNITY_INTERFACE_API UnityPluginUnload();

    @@ -39,11 +58,16 @@ bool UNITY_INTERFACE_API SOb_DisconnectFromSpot(int32_t robot_id);
  
    // Start reading spot camera feeds. Runs in a separate threads.

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_ReadCameraFeeds(int32_t robot_id, uint32_t cam_bitmask);

    int32_t UNITY_INTERFACE_API SOb_CreateCameraStream(int32_t robot_id, uint32_t cam_bitmask);

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_DestroyCameraStream(int32_t robot_id, int32_t cam_stream_id);

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_GetNextImageSet(

        int32_t robot_id,

        int32_t cam_stream_id,

        int32_t n_images_requested,

        uint8_t** images,

        float** depths

    @@ -52,6 +76,7 @@ bool UNITY_INTERFACE_API SOb_GetNextImageSet(
  
    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_RegisterUnityReadbackBuffers(

        int32_t robot_id,

        int32_t cam_stream_id,

        uint32_t cam_bit,         // Single bit only

        void* out_img_buf,        // ID3D12Resource* (aka tensor)

        void* out_depth_buf,      // ID3D12Resource* (aka tensor)

    @@ -63,22 +88,27 @@ UNITY_INTERFACE_EXPORT
  
    bool UNITY_INTERFACE_API SOb_ClearUnityReadbackBuffers(int32_t robot_id);

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_LaunchVisionPipeline(int32_t robot_id, SObModel model);

    bool UNITY_INTERFACE_API SOb_LaunchVisionPipeline(

        int32_t robot_id,

        int32_t cam_stream_id,

        SObModel model

    );

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_StopVisionPipeline(int32_t robot_id);

    bool UNITY_INTERFACE_API SOb_StopVisionPipeline(int32_t robot_id, int32_t cam_stream_id);

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_GetNextVisionPipelineImageSet(

        int32_t robot_id,

        int32_t cam_stream_id,

        int32_t n_images_requested,

        uint8_t** images,

        float** depths

    );

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_PushNextImageSetToUnityBuffers(int32_t robot_id);

    bool UNITY_INTERFACE_API SOb_PushNextImageSetToUnityBuffers(int32_t robot_id, int32_t cam_stream_id);

    UNITY_INTERFACE_EXPORT

    bool UNITY_INTERFACE_API SOb_PushNextVisionPipelineImageSetToUnityBuffers(int32_t robot_id);

    bool UNITY_INTERFACE_API SOb_PushNextVisionPipelineImageSetToUnityBuffers(int32_t robot_id, int32_t cam_stream_id);

    // Model stuff

    UNITY_INTERFACE_EXPORT

    @@ -103,6 +133,8 @@ bool UNITY_INTERFACE_API SOb_SetUnityLogCallback(const SOb_LogCallback callback)
  
    UNITY_INTERFACE_EXPORT

    void UNITY_INTERFACE_API SOb_ToggleDebugDumps(const char* dump_path);

    }

    #ifdef __cplusplus

    } // extern "C"

    #endif

    #endif //SPOT_OBSERVER_H

install

Submodule install added at 440ce5

saved_images/spot_depth1.png

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