Update PyOpticam to the Latest Optitrack+Nanobind

.gitignore

@@ -15,4 +15,6 @@ calib_images*
 Rigel*
 Europa*
 local*
-*.dll
+*.dll
+.venv
+.vs

CMakeLists.txt

@@ -45,6 +45,6 @@ nanobind_add_module(
   NB_STATIC # Build static libnanobind (the extension module itself remains a shared library)
   src/pyopticam_ext.cpp
 )
-target_link_libraries(pyopticam_ext PRIVATE "C:/Program Files (x86)/OptiTrack/Camera SDK/lib/CameraLibrary2015x64S.lib")
+target_link_libraries(pyopticam_ext PRIVATE "C:/Program Files (x86)/OptiTrack/CameraSDK/lib/CameraLibrary2019x64S.lib")
 
 install(TARGETS pyopticam_ext LIBRARY DESTINATION .)

README.md

@@ -12,7 +12,7 @@ Installation
 2. Install the [Optitrack Camera SDK](https://optitrack.com/software/camera-sdk/) to: `C:/Program Files (x86)/OptiTrack/Camera SDK`
 3. Clone this repository
 4. Navigate to the top-level `pyopticam` directory and run `pip install -e . ` (Do not upgrade pip, use pip version `21.1.1`)
-5. Find `C:/Program Files (x86)/OptiTrack/Camera SDK/lib/CameraLibrary2015x64S.dll` and copy it to `pyopticam/src/pyopticam`
+5. Find `C:/Program Files (x86)/OptiTrack/CameraSDK/lib/CameraLibrary2019x64S.dll` and copy it to `pyopticam/src/pyopticam`
 
 Afterwards, make sure your Optitrack cameras are accessible on the network, and try the `video_viewer.py` or the `marker_viewer.py` example.
 

cmake-modules/FindOTCSDK.cmake

@@ -1,11 +1,11 @@
 find_path(OTCSDK_ROOT_DIR
           NAMES include/camera.h
-          HINTS "C:/Program Files (x86)/OptiTrack/Camera SDK"
+          HINTS "C:/Program Files (x86)/OptiTrack/CameraSDK"
           NO_CMAKE_PATH)
 
 find_path(OTCSDK_INCLUDE_DIR
           NAMES cameralibrary.h
-          HINTS "C:/Program Files (x86)/OptiTrack/Camera SDK/include"
+          HINTS "C:/Program Files (x86)/OptiTrack/CameraSDK/include"
           NO_CMAKE_PATH)
 
 #message(STATUS "OTCSDK ROOT DIR PATH ${NP_CAMERASDK}")
@@ -15,13 +15,13 @@ message(STATUS "OTCSDK ROOT DIR ${OTCSDK_ROOT_DIR}")
 
 message(STATUS "OTCSDK INCLUDE DIR ${OTCSDK_INCLUDE_DIR}")
 
-find_library(OTCSDK_IMPORT_LIB CameraLibrary2015x64S HINTS "${OTCSDK_ROOT_DIR}/lib")
-find_file(OTCSDK_SHARED_LIB NAMES "CameraLibrary2015x64S.dll" HINTS "${OTCSDK_ROOT_DIR}/lib")
+find_library(OTCSDK_IMPORT_LIB CameraLibrary2019x64S HINTS "${OTCSDK_ROOT_DIR}/lib")
+find_file(OTCSDK_SHARED_LIB NAMES "CameraLibrary2019x64S.dll" HINTS "${OTCSDK_ROOT_DIR}/lib")
 
 message(STATUS "OTCSDK IMPORT LIBRARY DIR ${OTCSDK_IMPORT_LIB}")
 message(STATUS "OTCSDK SHARED LIBRARY DIR ${OTCSDK_SHARED_LIB}")
 
-include_directories("C:/Program Files (x86)/OptiTrack/Camera SDK/include")
+include_directories("C:/Program Files (x86)/OptiTrack/CameraSDK/include")
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(OTCSDK DEFAULT_MSG OTCSDK_ROOT_DIR OTCSDK_INCLUDE_DIR OTCSDK_IMPORT_LIB OTCSDK_SHARED_LIB)

examples/optitrack_thread.py

@@ -60,7 +60,7 @@ def __init__(self, mode=m.eVideoMode.MJPEGMode, exposure=50, delay_strobe=False,
             print("Creating Sync Object...")
             self.sync = m.cModuleSync.Create()
             for i in range(len(self.camera_array)):
-                self.sync.AddCamera(self.camera_array[i], 0)
+                self.sync.AddCamera(self.camera_array[i])
         else:
             self.sync = None
 
@@ -105,17 +105,19 @@ def fetch_frame(self):
             new_frame = np.nan_to_num(new_frame, nan=0.0)
         else:
             current_framegroup = m.GetFrameGroup(self.sync)
-            new_frame = np.zeros((current_framegroup.Count(), 512, 640), dtype=np.uint8)
-            m.FillTensorFromFrameGroup(current_framegroup, new_frame)
+            new_frame = np.zeros((current_framegroup.Count(), self.camera_array[0].Height(), self.camera_array[0].Width()), dtype=np.uint8)
+            m.FillTensorFromFrameGroup(self.camera_array[0], current_framegroup, new_frame)
         self.current_frame = new_frame
         self.newFrame = True
 
     def run(self):
         print("Beginning Optitrack Receive Thread!")
 
-        while(self.should_run and time.time() - self.deadmansSwitch < 4.0):
+        while(self.should_run):# and time.time() - self.deadmansSwitch < 6.0):
             self.fetch_frame()
 
+        print("Should Run:", self.should_run, "Deadman Switch:", time.time() - self.deadmansSwitch)
+
         if self.sync:
             self.sync.RemoveAllCameras()
             m.cModuleSync.Destroy(self.sync)
@@ -124,9 +126,9 @@ def run(self):
             if self.camera_array[i].State() == m.eCameraState.Initialized:
                 print("Stopping Camera", i, "...")
                 #camera_array[i].Stop(True)
-                print("Stopped Camera", i," Releasing Camera...")
-                self.camera_array[i].Release()
-                print("Released Camera!")
+                print("Stopped Camera", i)#" Releasing Camera...")
+                #self.camera_array[i].Release()
+                #print("Released Camera!")
 
         m.CameraManager.X().Shutdown()
 

examples/video_viewer.py

@@ -11,45 +11,46 @@
 ffmpeg_recording = False
 
 fake = np.zeros((16, 16), dtype=np.uint8)
-num_cams = 8
+num_cams = 1
 output_width  = int(640 / 2)
 #output_height = int(512 * num_cams / 2) # Dependent on the number of cameras; see below
 
-print("Starting to retrieve frame groups...")
-keypress = cv2.waitKey(1)
-while(not (keypress & 0xFF == ord('q'))):
-    if optitrack.newFrame:
-        image_frame = optitrack.read()
-        num_cams = image_frame.shape[0]
-        output_height = int(512 * num_cams / 2)
-        if image_frame.shape[1] > 1:
-            image_frame = np.reshape(image_frame, (-1, image_frame.shape[2]))
-            #image_frame        = np.vstack((np.hstack((image_frame[0], image_frame[1], image_frame[2], image_frame[3])),
-            #                                np.hstack((image_frame[4], image_frame[5], image_frame[6], image_frame[7]))))
-            image_frame = cv2.resize(image_frame, (output_width, output_height))
-
-            if (keypress & 0xFF == ord('w')):
-                if not ffmpeg_recording:
-                    ffmpeg_process = mp4_thread.ffmpegThread("OptitrackOutput.mp4", width=output_width, height=output_height)#image_frame.shape[1], height=image_frame.shape[0])
-                    ffmpeg_process.start()
-                    ffmpeg_recording = True
-                else: 
-                    print("Killing FFMPEG process...")
-                    ffmpeg_process.end_encoding()
-                    ffmpeg_recording = False
-
-            if ffmpeg_recording:
-                ffmpeg_process.add_image(image_frame)
-            cv2.imshow("CameraFrame", image_frame)
-
+try:
+    print("Starting to retrieve frame groups...")
     keypress = cv2.waitKey(1)
-
-if ffmpeg_recording:
-    print("Killing FFMPEG process...")
-    ffmpeg_process.end_encoding()
-    ffmpeg_recording = False
-
-optitrack.stop()
-
-cv2.destroyAllWindows()
-print("Fin!")
+    while(not (keypress & 0xFF == ord('q'))):
+        if optitrack.newFrame:
+            image_frame = optitrack.read()
+            num_cams = image_frame.shape[0]
+            output_height = int(512 * num_cams / 2)
+            if image_frame.shape[1] > 1:
+                image_frame = np.reshape(image_frame, (-1, image_frame.shape[2]))
+                #image_frame        = np.vstack((np.hstack((image_frame[0], image_frame[1], image_frame[2], image_frame[3])),
+                #                                np.hstack((image_frame[4], image_frame[5], image_frame[6], image_frame[7]))))
+                #image_frame = cv2.resize(image_frame, (output_width, output_height))
+
+                if (keypress & 0xFF == ord('w')):
+                    if not ffmpeg_recording:
+                        ffmpeg_process = mp4_thread.ffmpegThread("OptitrackOutput.mp4", width=output_width, height=output_height)#image_frame.shape[1], height=image_frame.shape[0])
+                        ffmpeg_process.start()
+                        ffmpeg_recording = True
+                    else: 
+                        print("Killing FFMPEG process...")
+                        ffmpeg_process.end_encoding()
+                        ffmpeg_recording = False
+
+                if ffmpeg_recording:
+                    ffmpeg_process.add_image(image_frame)
+                cv2.imshow("CameraFrame", image_frame)
+
+        keypress = cv2.waitKey(1)
+finally:
+    if ffmpeg_recording:
+        print("Killing FFMPEG process...")
+        ffmpeg_process.end_encoding()
+        ffmpeg_recording = False
+
+    optitrack.stop()
+
+    cv2.destroyAllWindows()
+    print("Fin!")

pyproject.toml

@@ -4,7 +4,7 @@ requires = [
     "wheel",
     "scikit-build",
     "cmake>=3.17",
-    "nanobind==0.0.9",
+    "nanobind",
     "ninja; platform_system!='Windows'"
 ]
 

setup.py

@@ -12,7 +12,7 @@
 
 setup(
     name="pyopticam",
-    version="0.0.1",
+    version="0.0.2",
     author="Johnathon Selstad",
     author_email="[email protected]",
     description="A nanobind wrapper for NaturalPoint's Optitrack Camera SDK",

src/pyopticam/__init__.py

@@ -1 +1 @@
-from .pyopticam_ext import GetCameraList, eVideoMode, eImagerGain, eCameraState, eOptimization, sStatusLightColor, cCameraLibraryStartupSettings, cModuleSync, FrameGroup, Modes, DroppedFrameInfo, GetFrameGroup, FillTensorFromFrameGroup, GetFrameGroupObjectArray, GetSlowFrameArray, Frame, Camera, CameraManager, CameraEntry, CameraList, HardwareKeyList, HubList, HardwareDeviceList, CameraManagerListener, cUID
+from .pyopticam_ext import GetCameraList, eVideoMode, eImagerGain, eCameraState, eOptimization, sStatusLightColor, cCameraLibraryStartupSettings, FrameGroup, Modes, GetFrameGroup, FillTensorFromFrameGroup, GetFrameGroupObjectArray, GetSlowFrameArray, Frame, Camera, CameraManager, CameraEntry, CameraList, HardwareKeyList, HubList, HardwareDeviceList, CameraManagerListener, cUID, cModuleSync