4.0.6 (#263)

* add new plane detection parameters * add new focal length attribute * update linux lib + fix ai model enum * fix od 2d sample * also fix when using BT * clean scenes
stereolabs · Aug 10, 2023 · 108effb · 108effb
1 parent ec49500
commit 108effb
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Showing 14 changed files with 390 additions and 591 deletions.
diff --git a/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingMulti.unity b/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingMulti.unity
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diff --git a/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingSingle.unity b/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingSingle.unity
diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/2D Object Detection.unity b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/2D Object Detection.unity
diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/3D Object Detection.unity b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/3D Object Detection.unity
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       value: 60
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       propertyPath: OD_personDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
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-        type: 3}
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       propertyPath: electronicsDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: fruitVegetableDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
 --- !u!114 &56380649 stripped
 MonoBehaviour:
-  m_CorrespondingSourceObject: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-    type: 3}
+  m_CorrespondingSourceObject: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
   m_PrefabInstance: {fileID: 56380648}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 0}
@@ -516,8 +484,7 @@ MonoBehaviour:
   zedManager: {fileID: 56380649}
   detectionMode: 0
   startAIModuleAutomatically: 1
-  boundingBoxPrefab: {fileID: 1438017172825460, guid: 2d803190bc4738d4daf5932468a5495e,
-    type: 3}
+  boundingBoxPrefab: {fileID: 1438017172825460, guid: 2d803190bc4738d4daf5932468a5495e, type: 3}
   boxColors:
   - {r: 0.23137257, g: 0.909804, b: 0.6901961, a: 1}
   - {r: 0.098039225, g: 0.6862745, b: 0.81568635, a: 1}

diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs
@@ -223,6 +223,7 @@ public void Visualize2DBoundingBoxes(ObjectDetectionFrame dframe)
         List<int> activeids = liveBBoxes.Keys.ToList();
 
         List<DetectedObject> newobjects = dframe.GetFilteredObjectList(showONTracked, showSEARCHINGTracked, showOFFTracked);
+
         //Test just setting box to first available.
         foreach (DetectedObject dobj in newobjects)
         {
@@ -247,6 +248,7 @@ public void Visualize2DBoundingBoxes(ObjectDetectionFrame dframe)
             bbox.sizeDelta = new Vector2(objrect.width, objrect.height);
             bbox.anchoredPosition = new Vector2(objrect.x, objrect.y);
 
+
             //Apply the mask.
             if (showObjectMask)
             {
@@ -308,7 +310,7 @@ public void Visualize2DBoundingBoxes(BodyTrackingFrame dframe)
             //Adjust the size of the RectTransform to encompass the object.
             bbox.sizeDelta = new Vector2(objrect.width, objrect.height);
             bbox.anchoredPosition = new Vector2(objrect.x, objrect.y);
-
+           
             //Apply the mask.
             if (showObjectMask)
             {

diff --git a/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity b/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity
@@ -819,10 +819,18 @@ PrefabInstance:
       propertyPath: m_LocalRotation.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
+      propertyPath: inputType
+      value: 0
+      objectReference: {fileID: 0}
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       propertyPath: showarrig
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
+      propertyPath: svoInputFileName
+      value: 
+      objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
       propertyPath: advancedPanelOpen
       value: 1

diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs
@@ -152,10 +152,8 @@ public Vector2[] Get2DBoundingBoxCorners_Image(float scaleForCanvasUnityError =
             Vector2 rawcoord;
             rawcoord.x = bodyData.boundingBox2D[i].x * scaleForCanvasUnityError + cxoffset;
             rawcoord.y = detectingZEDManager.zedCamera.ImageHeight - bodyData.boundingBox2D[i].y + cyoffset;
-
-            //Terrible hack to compensate for bug in Unity that scales the Canvas very improperly if you have certain (necessary) values on the projection matrix. 
-            rawcoord.y = (rawcoord.y - (zedimageheight / 2f)) * scaleForCanvasUnityError + (zedimageheight / 2f);
 
+            flippedYimagecoords[i] = rawcoord;
         }
 
         return flippedYimagecoords;

diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs
@@ -174,9 +174,8 @@ public Vector2[] Get2DBoundingBoxCorners_Image(float scaleForCanvasUnityError =
             Vector2 rawcoord;
             rawcoord.x = objectData.boundingBox2D[i].x * scaleForCanvasUnityError + cxoffset;
             rawcoord.y = detectingZEDManager.zedCamera.ImageHeight - objectData.boundingBox2D[i].y + cyoffset;
-
-            //Terrible hack to compensate for bug in Unity that scales the Canvas very improperly if you have certain (necessary) values on the projection matrix. 
-            rawcoord.y = (rawcoord.y - (zedimageheight / 2f)) * scaleForCanvasUnityError + (zedimageheight / 2f);
+
+            flippedYimagecoords[i] = rawcoord;
         }
 
         return flippedYimagecoords;
@@ -318,6 +317,7 @@ public bool GetMaskTexture(out Texture2D masktex, bool fliponYaxis)
             if (maskTexture == null)
             {
                 IntPtr maskpointer = maskMat.GetPtr(sl.ZEDMat.MEM.MEM_CPU);
+
                 if (maskpointer != IntPtr.Zero)
                 {
                     maskTexture = ZEDMatToTexture_CPU(maskMat, false);

diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/PlaneDetection/ZEDPlaneDetectionManager.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/PlaneDetection/ZEDPlaneDetectionManager.cs
@@ -374,8 +374,10 @@ public bool DetectPlaneAtHit(ZEDManager manager, Vector2 screenPos)
         sl.ZEDCamera zedcam = manager.zedCamera;
         Camera cam = manager.GetMainCamera();
 
+        sl.PlaneDetectionParameters planeParameters = new sl.PlaneDetectionParameters(manager.planeDetectionMaxDistanceThreshold, manager.planeDetectioNormalSimilarityThreshold);
+
         ZEDPlaneGameObject.PlaneData plane = new ZEDPlaneGameObject.PlaneData();
-        if (zedcam.findPlaneAtHit(ref plane, screenPos) == sl.ERROR_CODE.SUCCESS) //We found a plane. 
+        if (zedcam.findPlaneAtHit(ref plane, screenPos, ref planeParameters) == sl.ERROR_CODE.SUCCESS) //We found a plane. 
         {
             int numVertices, numTriangles = 0;
             zedcam.convertHitPlaneToMesh(planeMeshVertices, planeMeshTriangles, out numVertices, out numTriangles);

diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs
@@ -301,6 +301,21 @@ public enum shaderType
     /////////////////////////////////////////////////////////////////////////
     ///////////////////////// Spatial Mapping ///////////////////////////////
     /////////////////////////////////////////////////////////////////////////
+
+    /// <summary>
+    /// Controls the spread of plane by checking the position difference.
+    /// Default is 0.15 meters.
+    /// </summary>
+    [HideInInspector]
+    public float planeDetectionMaxDistanceThreshold = 0.15f;
+
+    /// <summary>
+    /// Controls the spread of plane by checking the angle difference.
+    /// Default is 15 degrees.
+    /// </summary>
+    [HideInInspector]
+    public float planeDetectioNormalSimilarityThreshold = 15.0f;
+
     /// <summary>
     /// Resolution setting for the scan. A higher resolution creates more submeshes and uses more memory, but is more accurate.
     /// </summary>
@@ -3170,6 +3185,7 @@ private void RetrieveObjectDetectionFrame()
         sl.Objects objsbuffer = new sl.Objects();
 
         sl.ERROR_CODE res = zedCamera.RetrieveObjects(ref objectDetectionRuntimeParameters, ref objsbuffer, objectDetectionInstanceID);
+
         if (res == sl.ERROR_CODE.SUCCESS && objsbuffer.isNew != 0)
         {
             if (objectDetection2DMask)