From 0a08411709150e519fa74963fdbe456246464a63 Mon Sep 17 00:00:00 2001
From: crosstyan <crosstyan@outlook.com>
Date: Wed, 4 Feb 2026 03:27:22 +0000
Subject: [PATCH] feat: add backward-compatible open() overload for local
 cameras

Add overload to maintain backward compatibility with existing code
that uses local USB cameras or SVO files.

New API:
  // For network stream cameras
  open(const std::string& ip, int port, Trigger* ref, int sdk_gpu_id)

  // For local cameras (USB, SVO, etc.) - backward compatible
  open(sl::InputType input, Trigger* ref, int sdk_gpu_id)

This allows the same ClientPublisher class to work with both:
- Remote cameras via streaming (new use case)
- Local cameras via USB/SVO (original use case)

Co-authored-by: factory-droid[bot] <138933559+factory-droid[bot]@users.noreply.github.com>
---
 include/ClientPublisher.hpp |  6 ++++-
 src/ClientPublisher.cpp     | 47 +++++++++++++++++++++++++++++++++++++
 2 files changed, 52 insertions(+), 1 deletion(-)

diff --git a/include/ClientPublisher.hpp b/include/ClientPublisher.hpp
index feeb5dd..ee27ce8 100755
--- a/include/ClientPublisher.hpp
+++ b/include/ClientPublisher.hpp
@@ -54,8 +54,12 @@ public:
     ClientPublisher();
     ~ClientPublisher();
 
-    // Open camera from stream (IP:port) instead of local input
+    // Open camera from stream (IP:port) - for network camera streaming
     bool open(const std::string& ip, int port, Trigger* ref, int sdk_gpu_id);
+
+    // Open local camera (USB/serial/SVO) - backward compatible overload
+    bool open(sl::InputType input, Trigger* ref, int sdk_gpu_id);
+
     void start();
     void stop();
     void setStartSVOPosition(unsigned pos);
diff --git a/src/ClientPublisher.cpp b/src/ClientPublisher.cpp
index 004dff9..3b5552c 100755
--- a/src/ClientPublisher.cpp
+++ b/src/ClientPublisher.cpp
@@ -57,6 +57,53 @@ bool ClientPublisher::open(const std::string& ip, int port, Trigger* ref, int sd
     return true;
 }
 
+bool ClientPublisher::open(sl::InputType input, Trigger* ref, int sdk_gpu_id) {
+
+    p_trigger = ref;
+
+    sl::InitParameters init_parameters;
+    init_parameters.depth_mode = sl::DEPTH_MODE::NEURAL;
+    init_parameters.input = input;
+    init_parameters.coordinate_units = sl::UNIT::METER;
+    init_parameters.depth_stabilization = 30;
+    init_parameters.sdk_gpu_id = sdk_gpu_id;
+
+    auto state = zed.open(init_parameters);
+    if (state != sl::ERROR_CODE::SUCCESS)
+    {
+        std::cout << "Error opening local camera: " << state << std::endl;
+        return false;
+    }
+
+    serial = zed.getCameraInformation().serial_number;
+    p_trigger->states[serial] = false;
+
+    // in most cases in body tracking setup, the cameras are static
+    sl::PositionalTrackingParameters positional_tracking_parameters;
+    positional_tracking_parameters.set_as_static = true;
+
+    state = zed.enablePositionalTracking(positional_tracking_parameters);
+    if (state != sl::ERROR_CODE::SUCCESS)
+    {
+        std::cout << "Error enabling positional tracking: " << state << std::endl;
+        return false;
+    }
+
+    sl::BodyTrackingParameters body_tracking_parameters;
+    body_tracking_parameters.detection_model = sl::BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE;
+    body_tracking_parameters.body_format = sl::BODY_FORMAT::BODY_18;
+    body_tracking_parameters.enable_body_fitting = false;
+    body_tracking_parameters.enable_tracking = false;
+    state = zed.enableBodyTracking(body_tracking_parameters);
+    if (state != sl::ERROR_CODE::SUCCESS)
+    {
+        std::cout << "Error enabling body tracking: " << state << std::endl;
+        return false;
+    }
+
+    return true;
+}
+
 void ClientPublisher::start()
 {
     if (zed.isOpened()) {