diff --git a/ZEDCamera/Assets/UniversalRenderPipelineAsset.asset b/ZEDCamera/Assets/UniversalRenderPipelineAsset.asset new file mode 100644 index 00000000..7783d155 --- /dev/null +++ b/ZEDCamera/Assets/UniversalRenderPipelineAsset.asset @@ -0,0 +1,57 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!114 &11400000 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: bf2edee5c58d82540a51f03df9d42094, type: 3} + m_Name: UniversalRenderPipelineAsset + m_EditorClassIdentifier: + k_AssetVersion: 6 + k_AssetPreviousVersion: 5 + m_RendererType: 1 + m_RendererData: {fileID: 0} + m_RendererDataList: + - {fileID: 11400000, guid: 5ab9d918f28d78b46abec2e4c1ef5aca, type: 2} + m_DefaultRendererIndex: 0 + m_RequireDepthTexture: 0 + m_RequireOpaqueTexture: 0 + m_OpaqueDownsampling: 1 + m_SupportsTerrainHoles: 1 + m_SupportsHDR: 1 + m_MSAA: 4 + m_RenderScale: 1 + m_MainLightRenderingMode: 1 + m_MainLightShadowsSupported: 1 + m_MainLightShadowmapResolution: 2048 + m_AdditionalLightsRenderingMode: 1 + m_AdditionalLightsPerObjectLimit: 4 + m_AdditionalLightShadowsSupported: 0 + m_AdditionalLightsShadowmapResolution: 512 + m_ShadowDistance: 50 + m_ShadowCascadeCount: 1 + m_Cascade2Split: 0.25 + m_Cascade3Split: {x: 0.1, y: 0.3} + m_Cascade4Split: {x: 0.067, y: 0.2, z: 0.467} + m_ShadowDepthBias: 1 + m_ShadowNormalBias: 1 + m_SoftShadowsSupported: 1 + m_UseSRPBatcher: 1 + m_SupportsDynamicBatching: 0 + m_MixedLightingSupported: 1 + m_DebugLevel: 0 + m_UseAdaptivePerformance: 1 + m_ColorGradingMode: 0 + m_ColorGradingLutSize: 32 + m_ShadowType: 1 + m_LocalShadowsSupported: 0 + m_LocalShadowsAtlasResolution: 256 + m_MaxPixelLights: 0 + m_ShadowAtlasResolution: 256 + m_ShaderVariantLogLevel: 0 + m_ShadowCascades: 0 diff --git a/ZEDCamera/Assets/UniversalRenderPipelineAsset.asset.meta b/ZEDCamera/Assets/UniversalRenderPipelineAsset.asset.meta new file mode 100644 index 00000000..5883175a --- /dev/null +++ b/ZEDCamera/Assets/UniversalRenderPipelineAsset.asset.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: db011672f398b2b4d89240ade625dc64 +NativeFormatImporter: + externalObjects: {} + mainObjectFileID: 11400000 + userData: + assetBundleName: + assetBundleVariant: diff --git a/ZEDCamera/Assets/UniversalRenderPipelineAsset_Renderer.asset b/ZEDCamera/Assets/UniversalRenderPipelineAsset_Renderer.asset new file mode 100644 index 00000000..cd7074b5 --- /dev/null +++ b/ZEDCamera/Assets/UniversalRenderPipelineAsset_Renderer.asset @@ -0,0 +1,45 @@ +%YAML 1.1 +%TAG !u! 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Set the SN to 0 to open the camera by ID."); + GUIContent cameraSerialNumberLabel = new GUIContent("Serial Number", "Serial number of the camera to open. Leave the SN to 0 to open the camera by ID."); GUI.enabled = !Application.isPlaying; usbSNProperty.intValue = EditorGUILayout.IntField(cameraSerialNumberLabel, usbSNProperty.intValue); GUI.enabled = true; @@ -783,6 +785,9 @@ public override void OnInspectorGUI() GUIContent BodyFittingLabel = new GUIContent("Enable Body Fitting", "Defines if the body fitting will be applied.\r\n\n" + "Requires tracking to be on. It's also recommended to enable Estimate Initial Position to find the floor."); OD_BodyFitting.boolValue = EditorGUILayout.Toggle(BodyFittingLabel, OD_BodyFitting.boolValue); + + GUIContent MinKPThresh = new GUIContent("Minimum keypoints threshold", "Filter detections with low number of keypoints detected"); + OD_MinimumKPThresh.intValue = EditorGUILayout.IntSlider(MinKPThresh, OD_MinimumKPThresh.intValue, 0, 34); } GUIContent MaxRangeLabel = new GUIContent("Max Range", "Defines a upper depth range for detections."); @@ -868,7 +873,7 @@ public override void OnInspectorGUI() "an object exists to report it.\r\n\nEx: If the threshold is 80, then only objects where the SDK is 80% sure or greater will appear in the list of detected objects."); OD_PersonDetectionConfidence.intValue = EditorGUILayout.IntSlider(OD_personDetectionConfidenceThresholdLabel, OD_PersonDetectionConfidence.intValue, 1, 99); } - else if (OD_DetectionModel.enumValueIndex == (int)sl.DETECTION_MODEL.CUSTOM_BOX_OBJECTS) { + else if (OD_DetectionModel.enumValueIndex == (int)sl.DETECTION_MODEL.CUSTOM_BOX_OBJECTS) { } else //SKELETON { @@ -1056,7 +1061,7 @@ public override void OnInspectorGUI() GUIContent enalbeIMUFusionLabel = new GUIContent("Visual-Inertial Tracking", "If true, and you are using a ZED2 or ZED Mini, IMU fusion uses data from the camera's IMU to improve tracking results. "); enableIMUFusionProperty.boolValue = EditorGUILayout.Toggle(enalbeIMUFusionLabel, enableIMUFusionProperty.boolValue); - //Whether to enable the ZED SDK's self-calibration feature. + //Whether to enable the ZED SDK's self-calibration feature. GUIContent enableselfcaliblabel = new GUIContent("Self-Calibration", "If true, the ZED SDK will subtly adjust the ZED's calibration " + "during runtime to account for heat and other factors. Reasons to disable this are rare. "); enableSelfCalibrationProperty.boolValue = EditorGUILayout.Toggle(enableselfcaliblabel, enableSelfCalibrationProperty.boolValue); @@ -1083,7 +1088,7 @@ public override void OnInspectorGUI() EditorGUI.indentLevel++; - //Style for the AR layer box. + //Style for the AR layer box. GUIStyle layerboxstyle = new GUIStyle(EditorStyles.numberField); layerboxstyle.fixedWidth = 30; layerboxstyle.stretchWidth = false; @@ -1190,7 +1195,7 @@ public override void OnInspectorGUI() "usually be left on. However, in some setups, like when using a custom mount, this can cause tracking errors."); setIMUPrior.boolValue = EditorGUILayout.Toggle(setimupriorlabel, manager.setIMUPriorInAR); - //Fade In At Start toggle. + //Fade In At Start toggle. GUIContent fadeinlabel = new GUIContent("Fade In at Start", "When enabled, makes the ZED image fade in from black when the application starts."); fadeinonstart.boolValue = EditorGUILayout.Toggle(fadeinlabel, manager.fadeInOnStart); diff --git a/ZEDCamera/Assets/ZED/Examples/Dark Room/Scene/Dark Room.unity b/ZEDCamera/Assets/ZED/Examples/Dark Room/Scene/Dark Room.unity index 10e54c44..fd003b07 100644 --- a/ZEDCamera/Assets/ZED/Examples/Dark Room/Scene/Dark Room.unity +++ b/ZEDCamera/Assets/ZED/Examples/Dark Room/Scene/Dark Room.unity @@ -38,12 +38,12 @@ RenderSettings: m_ReflectionIntensity: 1 m_CustomReflection: {fileID: 0} m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1} + m_IndirectSpecularColor: {r: 0.1806368, g: 0.22613676, b: 0.30711406, a: 1} m_UseRadianceAmbientProbe: 0 --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 11 + serializedVersion: 12 m_GIWorkflowMode: 1 m_GISettings: serializedVersion: 2 @@ -98,7 +98,8 @@ 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m_UseBoundingSphereOverride: 0 + m_UseViewFrustumForShadowCasterCull: 1 m_ShadowRadius: 0 m_ShadowAngle: 0 --- !u!1 &1248741177 @@ -2528,6 +2547,7 @@ Light: m_UseColorTemperature: 0 m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 + m_UseViewFrustumForShadowCasterCull: 1 m_ShadowRadius: 0 m_ShadowAngle: 0 --- !u!4 &1281869216 @@ -2663,6 +2683,7 @@ Light: m_UseColorTemperature: 0 m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 + m_UseViewFrustumForShadowCasterCull: 1 m_ShadowRadius: 0 m_ShadowAngle: 0 --- !u!1 &1369015209 @@ -2757,6 +2778,7 @@ Light: m_UseColorTemperature: 0 m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 + m_UseViewFrustumForShadowCasterCull: 1 m_ShadowRadius: 0 m_ShadowAngle: 0 --- !u!4 &1369015213 @@ -2895,6 +2917,7 @@ Light: m_UseColorTemperature: 0 m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 + 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target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, type: 3} propertyPath: zedManager - value: + value: objectReference: {fileID: 1786428179} - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, type: 3} propertyPath: smoothFactor - value: 0 + value: 0.1 + objectReference: {fileID: 0} + - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, + type: 3} + propertyPath: mirrorOnYAxis + value: 1 objectReference: {fileID: 0} - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, type: 3} propertyPath: showSEARCHING value: 0 objectReference: {fileID: 0} + - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, + type: 3} + propertyPath: _mirrorOnYAxis + value: 1 + objectReference: {fileID: 0} - target: {fileID: 6327103935139800442, guid: ca18a88838151284380d84fc86d327e5, type: 3} propertyPath: m_Name @@ -858,8 +887,8 @@ MonoBehaviour: m_Enabled: 1 m_EditorHideFlags: 0 m_Script: {fileID: 11500000, guid: 75b2a3ff7b847ca4490808f4c0432cd4, type: 3} - m_Name: - m_EditorClassIdentifier: + m_Name: + m_EditorClassIdentifier: --- !u!1001 &6360354422455212558 PrefabInstance: m_ObjectHideFlags: 0 diff --git a/ZEDCamera/Assets/ZED/Examples/SpatialMapping/Scenes/SpatialMapping.unity b/ZEDCamera/Assets/ZED/Examples/SpatialMapping/Scenes/SpatialMapping.unity index 8dc91577..94d9cbf7 100644 --- a/ZEDCamera/Assets/ZED/Examples/SpatialMapping/Scenes/SpatialMapping.unity +++ b/ZEDCamera/Assets/ZED/Examples/SpatialMapping/Scenes/SpatialMapping.unity @@ -308,10 +308,6 @@ PrefabInstance: propertyPath: m_RootOrder value: 3 objectReference: {fileID: 0} - - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} - propertyPath: m_RootOrder - value: 1 - objectReference: {fileID: 0} - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: m_LocalPosition.x value: 0 @@ -340,6 +336,11 @@ PrefabInstance: propertyPath: m_LocalRotation.z value: 0 objectReference: {fileID: 0} + - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, + type: 3} + propertyPath: FPS + value: 30 + objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: depthMode @@ -352,6 +353,20 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} +<<<<<<< HEAD + propertyPath: estimateInitialPosition + value: 1 + objectReference: {fileID: 0} + - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, + type: 3} + propertyPath: isMappingFilteringEnable +======= + propertyPath: resolution +>>>>>>> 9e91e4aff31261de60deb827d63134dc844277f6 + value: 1 + objectReference: {fileID: 0} + - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, + type: 3} propertyPath: m_maxDepthRange value: 40 objectReference: {fileID: 0} @@ -363,7 +378,7 @@ PrefabInstance: - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: saveMeshWhenOver - value: 1 + value: 0 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} @@ -383,7 +398,7 @@ PrefabInstance: - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: isMappingTextured - value: 0 + value: 1 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} @@ -413,7 +428,7 @@ PrefabInstance: - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: spatialMappingFoldoutOpen - value: 0 + value: 1 objectReference: {fileID: 0} m_RemovedComponents: [] m_SourcePrefab: {fileID: 100100000, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_FusedPC_Disk.mat b/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_FusedPC_Disk.mat index 1116e296..04c2fa35 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_FusedPC_Disk.mat +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_FusedPC_Disk.mat @@ -67,7 +67,7 @@ Material: - _Mode: 0 - _OcclusionStrength: 1 - _Parallax: 0.02 - - _PointSize: 0.05 + - _PointSize: 0.26 - _SmoothnessTextureChannel: 0 - _SpecularHighlights: 1 - _SrcBlend: 1 @@ -77,3 +77,4 @@ Material: - _Color: {r: 1, g: 1, b: 1, a: 1} - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} - _Tint: {r: 0.5, g: 0.5, b: 0.5, a: 1} + m_BuildTextureStacks: [] diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat b/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat index 36643705..be3772c7 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat @@ -67,7 +67,7 @@ Material: - _Mode: 0 - _OcclusionStrength: 1 - _Parallax: 0.02 - - _Size: 0.1 + - _Size: 2 - _SmoothnessTextureChannel: 0 - _SpecularHighlights: 1 - _SrcBlend: 1 @@ -76,3 +76,4 @@ Material: m_Colors: - _Color: {r: 1, g: 1, b: 1, a: 1} - _EmissionColor: {r: 0, g: 0, b: 0, a: 1} + m_BuildTextureStacks: [] diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs index 80b79677..a8f5ca4e 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs @@ -129,18 +129,8 @@ void OnDestroy() if (_pointMaterial != null) { - if (Application.isPlaying) - { - Destroy(_pointMaterial); - Destroy(_diskMaterial); - - } - else - { - DestroyImmediate(_pointMaterial); - DestroyImmediate(_diskMaterial); - - } + Destroy(_pointMaterial); + Destroy(_diskMaterial); } } diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs index 36e43a81..21ae72b7 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs @@ -460,10 +460,10 @@ void ZEDReady() //Set eye layers to respective eyes. finalCenterEye.stereoTargetEye = StereoTargetEyeMask.Both; - /// AR Passtrough is recommended in 1280x720 at 60, due to FoV, FPS, etc. - /// If not set to this resolution, warn the user. - if (zedCamera.ImageWidth != 1280 && zedCamera.ImageHeight != 720) - Debug.LogWarning("[ZED AR Passthrough] This resolution is not ideal for a proper AR passthrough experience. Recommended resolution is 1280x720."); + /// AR Passtrough is recommended in 1280x720 at 60, due to FoV, FPS, etc. + /// If not set to this resolution, warn the user. + if (zedCamera.ImageWidth != 1280 && zedCamera.ImageHeight != 720) + Debug.LogWarning ("[ZED AR Passthrough] This resolution is not ideal for a proper AR passthrough experience. Recommended resolution is 1280x720."); zedReady = true; } diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/RigBone.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/RigBone.cs index 14201bf6..1a42b559 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/RigBone.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/RigBone.cs @@ -32,8 +32,13 @@ public RigBone(GameObject g, HumanBodyBones b) { Debug.Log("Avatar is not Humanoid or it is not valid"); return; } - isValid = true; + if (!animator.GetBoneTransform(bone)) + { + Debug.Log("Bone : " + bone + " not found ! "); + } + + isValid = true; savedValue = animator.GetBoneTransform(bone).localRotation; } public void set(float a, float x, float y, float z) { diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/SkeletonHandler.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/SkeletonHandler.cs index fc69f86c..8a0367ae 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/SkeletonHandler.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/SkeletonHandler.cs @@ -5,7 +5,6 @@ using System.Collections.Generic; using System; - public class SkeletonHandler : ScriptableObject { // For Skeleton Display @@ -33,7 +32,7 @@ private const int JointType_HeelLeft = 32, JointType_EyesRight = 30, JointType_EyesLeft = 28, - JointType_EarRight = 30, + JointType_EarRight = 31, JointType_EarLeft = 29, JointType_SpineBase = 0, JointType_SpineNaval = 1, @@ -171,14 +170,14 @@ private const int HumanBodyBones.LeftHand, // Left Wrist HumanBodyBones.LastBone, // Left Hand HumanBodyBones.LastBone, // Left HandTip - HumanBodyBones.LeftThumbDistal, + HumanBodyBones.LastBone, HumanBodyBones.RightShoulder, HumanBodyBones.RightUpperArm, HumanBodyBones.RightLowerArm, HumanBodyBones.RightHand, // Right Wrist HumanBodyBones.LastBone, // Right Hand HumanBodyBones.LastBone, // Right HandTip - HumanBodyBones.RightThumbDistal, + HumanBodyBones.LastBone, HumanBodyBones.LeftUpperLeg, HumanBodyBones.LeftLowerLeg, HumanBodyBones.LeftFoot, @@ -198,6 +197,7 @@ private const int }; private GameObject humanoid; + private Animator animator; private Dictionary rigBone = null; private Dictionary rigBoneTarget = null; @@ -206,16 +206,21 @@ private const int private List sphere = new List();// = GameObject.CreatePrimitive (PrimitiveType.Sphere); private Vector3 targetBodyPosition = new Vector3(0.0f, 0.0f, 0.0f); - public Quaternion targetBodyOrientation = Quaternion.identity; + private Quaternion targetBodyOrientation = Quaternion.identity; + + [SerializeField] private float _feetOffset = 0.0f; + public float FeetOffset { + get { return _feetOffset; } + set { _feetOffset = value; } + } - private float heightOffset = 0.5f; /// - /// Sets the smooth factor. + /// Get Animator; /// - /// Smooth. - public void SetHeightOffset(float offset) + /// Humanoid + public Animator GetAnimator() { - heightOffset = offset; + return animator; } /// @@ -248,6 +253,7 @@ public void Create(GameObject h) if (h.GetComponent()) { + animator = humanoid.GetComponent(); default_rotations[bone] = humanoid.GetComponent().GetBoneTransform(bone).localRotation; } @@ -262,6 +268,7 @@ public void Destroy() GameObject.Destroy(skeleton); rigBone.Clear(); rigBoneTarget.Clear(); + default_rotations.Clear(); Array.Clear(bones, 0, bones.Length); Array.Clear(spheres, 0, spheres.Length); } @@ -373,6 +380,116 @@ private void setHumanPoseControl(Vector3 rootPosition, Quaternion rootRotation, targetBodyPosition = rootPosition; } + /// + /// Function that handles the humanoid position, rotation and bones movement + /// + /// Position center. + private void setHumanPoseControlMirrored(Vector3 rootPosition, Quaternion rootRotation, Quaternion[] jointsRotation) + { + rootPosition = rootPosition.mirror_x(); + rootRotation = rootRotation.mirror_x(); + + // Store any joint local rotation (if the bone exists) + if (rigBone[HumanBodyBones.Hips].transform) + { + rigBoneTarget[HumanBodyBones.Hips] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.Hips)].mirror_x(); + } + + if (rigBone[HumanBodyBones.Hips].transform) + { + rigBoneTarget[HumanBodyBones.Spine] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.Spine)].mirror_x(); + } + + if (rigBone[HumanBodyBones.UpperChest].transform) + { + rigBoneTarget[HumanBodyBones.UpperChest] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.UpperChest)].mirror_x(); + } + + if (rigBone[HumanBodyBones.RightShoulder].transform) + { + rigBoneTarget[HumanBodyBones.RightShoulder] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.LeftShoulder)].mirror_x(); + } + + if (rigBone[HumanBodyBones.RightUpperArm].transform) + { + rigBoneTarget[HumanBodyBones.RightUpperArm] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.LeftUpperArm)].mirror_x(); + } + + if (rigBone[HumanBodyBones.RightLowerArm].transform) + { + rigBoneTarget[HumanBodyBones.RightLowerArm] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.LeftLowerArm)].mirror_x(); + } + + if (rigBone[HumanBodyBones.RightHand].transform) + { + rigBoneTarget[HumanBodyBones.RightHand] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.LeftHand)].mirror_x(); + } + + if (rigBone[HumanBodyBones.LeftShoulder].transform) + { + rigBoneTarget[HumanBodyBones.LeftShoulder] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.RightShoulder)].mirror_x(); + } + + if (rigBone[HumanBodyBones.LeftUpperArm].transform) + { + rigBoneTarget[HumanBodyBones.LeftUpperArm] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.RightUpperArm)].mirror_x(); + } + + if (rigBone[HumanBodyBones.LeftLowerArm].transform) + { + rigBoneTarget[HumanBodyBones.LeftLowerArm] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.RightLowerArm)].mirror_x(); + } + + if (rigBone[HumanBodyBones.LeftHand].transform) + { + rigBoneTarget[HumanBodyBones.LeftHand] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.RightHand)].mirror_x(); + } + + if (rigBone[HumanBodyBones.Neck].transform) + { + rigBoneTarget[HumanBodyBones.Neck] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.Neck)].mirror_x(); + } + + if (rigBone[HumanBodyBones.Head].transform) + { + rigBoneTarget[HumanBodyBones.Head] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.Head)].mirror_x(); + } + + if (rigBone[HumanBodyBones.RightUpperLeg].transform) + { + rigBoneTarget[HumanBodyBones.RightUpperLeg] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.LeftUpperLeg)].mirror_x(); + } + + if (rigBone[HumanBodyBones.RightLowerLeg].transform) + { + rigBoneTarget[HumanBodyBones.RightLowerLeg] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.LeftLowerLeg)].mirror_x(); + } + + if (rigBone[HumanBodyBones.RightFoot].transform) + { + rigBoneTarget[HumanBodyBones.RightFoot] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.LeftFoot)].mirror_x(); + } + + if (rigBone[HumanBodyBones.LeftUpperLeg].transform) + { + rigBoneTarget[HumanBodyBones.LeftUpperLeg] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.RightUpperLeg)].mirror_x(); + } + + if (rigBone[HumanBodyBones.LeftLowerLeg].transform) + { + rigBoneTarget[HumanBodyBones.LeftLowerLeg] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.RightLowerLeg)].mirror_x(); + } + + if (rigBone[HumanBodyBones.LeftFoot].transform) + { + rigBoneTarget[HumanBodyBones.LeftFoot] = jointsRotation[Array.IndexOf(humanBone, HumanBodyBones.RightFoot)].mirror_x(); + } + + // Store global transform (to be applied to the Hips joint). + targetBodyOrientation = rootRotation; + targetBodyPosition = rootPosition; + } + // Init skeleton display public void initSkeleton(int person_id) { @@ -397,11 +514,11 @@ public void initSkeleton(int person_id) sphere.GetComponent().material.color = color; sphere.transform.localScale = new Vector3(width * 2, width * 2, width * 2); sphere.transform.parent = skeleton.transform; + sphere.name = sphereList[j].ToString(); spheres[j] = sphere; } } - // Update skeleton display with new SDK data void updateSkeleton() { @@ -449,7 +566,7 @@ void updateSkeleton() /// /// Jt. /// Position center. - public void setControlWithJointPosition(Vector3[] jointsPosition, Quaternion[] jointsRotation, Quaternion rootRotation, bool useAvatar) + public void setControlWithJointPosition(Vector3[] jointsPosition, Quaternion[] jointsRotation, Quaternion rootRotation, bool useAvatar, bool _mirrorOnYAxis) { joints = jointsPosition; @@ -458,7 +575,10 @@ public void setControlWithJointPosition(Vector3[] jointsPosition, Quaternion[] j if (useAvatar) { - setHumanPoseControl(jointsPosition[0], rootRotation, jointsRotation); + if (_mirrorOnYAxis) + setHumanPoseControlMirrored(jointsPosition[0], rootRotation, jointsRotation); + else + setHumanPoseControl(jointsPosition[0], rootRotation, jointsRotation); } else { @@ -543,9 +663,8 @@ public void MoveAvatar() { var animator = humanoid.GetComponent(); // There is an offset between the joint "Hips" and the equivalent in the ZED SDK. This offset compensates it. - Vector3 offset = new Vector3(0, (animator.GetBoneTransform(HumanBodyBones.Hips).position.y - animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg).position.y), 0); - rigBone[HumanBodyBones.Hips].transform.position = targetBodyPosition + offset + new Vector3(0, heightOffset, 0); - rigBone[HumanBodyBones.Hips].transform.rotation = targetBodyOrientation; + Vector3 hipOffset = new Vector3(0, (animator.GetBoneTransform(HumanBodyBones.Hips).position.y - animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg).position.y), 0); + rigBone[HumanBodyBones.Hips].transform.SetPositionAndRotation(targetBodyPosition + hipOffset - new Vector3(0, _feetOffset, 0), targetBodyOrientation); } } @@ -556,7 +675,20 @@ public void Move() { MoveAvatar(); } +} +public static class TransformExtensions +{ + public static Vector3 mirror_x(this Vector3 input) + { + input.x *= -1f; + return input; + } - + public static Quaternion mirror_x(this Quaternion input) + { + input.x *= -1f; + input.w *= -1f; + return input; + } } diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/ZEDSkeletonTrackingViewer.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/ZEDSkeletonTrackingViewer.cs index 581039e5..1d737c6f 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/ZEDSkeletonTrackingViewer.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/ZEDSkeletonTrackingViewer.cs @@ -58,16 +58,19 @@ public class ZEDSkeletonTrackingViewer : MonoBehaviour public bool showOFF = false; [Header("Avatar Control")] - /// - /// Avatar game object - /// + /// + /// Avatar game object + /// + [Tooltip("3D Rigged model.")] public GameObject Avatar; [Space(5)] - [Range(-2.0f, 2.0f)] - public float heightOffset = 0.0f; + [Tooltip("Mirror the animation.")] + public bool mirrorMode; - public Dictionary avatarControlList; + public Dictionary avatarControlList; + + private float alpha = 0.1f; /// /// Start this instance. @@ -140,7 +143,7 @@ private void updateSkeletonData(DetectionFrame dframe) if (avatarControlList.ContainsKey(person_id)) { SkeletonHandler handler = avatarControlList[person_id]; - UpdateAvatarControl(handler,dobj.rawObjectData, useAvatar); + UpdateAvatarControl(handler,dobj.rawObjectData); // remove keys from list remainingKeyList.Remove(person_id); @@ -152,7 +155,7 @@ private void updateSkeletonData(DetectionFrame dframe) handler.Create(Avatar); handler.initSkeleton(person_id); avatarControlList.Add(person_id, handler); - UpdateAvatarControl(handler, dobj.rawObjectData, useAvatar); + UpdateAvatarControl(handler, dobj.rawObjectData); } } @@ -179,15 +182,6 @@ public void Update() Debug.Log(" Switch to Skeleton mode"); } - if (Input.GetKeyDown(KeyCode.DownArrow)) - { - heightOffset -= 0.02f; - } - else if (Input.GetKeyDown(KeyCode.UpArrow)) - { - heightOffset += 0.02f; - } - if (useAvatar) { foreach (var skelet in avatarControlList) @@ -205,7 +199,7 @@ public void Update() /// /// Handler. /// P. - private void UpdateAvatarControl(SkeletonHandler handler, sl.ObjectDataSDK data, bool useAvatar) + private void UpdateAvatarControl(SkeletonHandler handler, sl.ObjectDataSDK data) { Vector3[] worldJointsPos = new Vector3[34]; Quaternion[] worldJointsRot = new Quaternion[34]; @@ -216,9 +210,21 @@ private void UpdateAvatarControl(SkeletonHandler handler, sl.ObjectDataSDK data, worldJointsRot[i] = data.localOrientationPerJoint[i].normalized; } - handler.setControlWithJointPosition(worldJointsPos, worldJointsRot, zedManager.GetZedRootTansform().rotation * data.globalRootOrientation, useAvatar); + handler.setControlWithJointPosition(worldJointsPos, worldJointsRot, zedManager.GetZedRootTansform().rotation * data.globalRootOrientation, useAvatar, mirrorMode); - handler.SetHeightOffset(heightOffset); + if (handler.GetAnimator()) + { + if (data.keypointConfidence[(int)sl.BODY_PARTS_POSE_34.LEFT_ANKLE] != 0 && data.keypointConfidence[(int)sl.BODY_PARTS_POSE_34.RIGHT_ANKLE] != 0) + { + if (handler.GetAnimator().GetBoneTransform(HumanBodyBones.LeftToes) && handler.GetAnimator().GetBoneTransform(HumanBodyBones.RightToes)) + { + float leftFootHeight = handler.GetAnimator().GetBoneTransform(HumanBodyBones.LeftToes).position.y; + float rightFootHeight = handler.GetAnimator().GetBoneTransform(HumanBodyBones.RightToes).position.y; + handler.FeetOffset = alpha * Mathf.Min(leftFootHeight, rightFootHeight) + (1 - alpha) * handler.FeetOffset; + //Debug.Log(handler.FeetOffset); + } + } + } } void UpdateViewCameraPosition() diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs index 7e451942..4d544546 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs @@ -9,18 +9,18 @@ /// /// Processes the mesh taken from the ZED's Spatial Mapping feature so it can be used within Unity. -/// Handles the real-time updates as well as the final processing. -/// Note that ZEDSpatialMappingManager is more user-friendly/high-level, designed to hide the complexities of this class. +/// Handles the real-time updates as well as the final processing. +/// Note that ZEDSpatialMappingManager is more user-friendly/high-level, designed to hide the complexities of this class. /// public class ZEDSpatialMapping { /// - /// Submesh created by ZEDSpatialMapping. The scan is made of multiple chunks. + /// Submesh created by ZEDSpatialMapping. The scan is made of multiple chunks. /// public struct Chunk { /// - /// Reference to the GameObject that holds the MeshFilter. + /// Reference to the GameObject that holds the MeshFilter. /// public GameObject o; /// @@ -28,26 +28,26 @@ public struct Chunk /// public ProceduralMesh proceduralMesh; /// - /// Final mesh, assigned to once the spatial mapping is over and done processing. + /// Final mesh, assigned to once the spatial mapping is over and done processing. /// public Mesh mesh; } /// - /// Structure to contain a temporary buffer that holds triangles and vertices. + /// Structure to contain a temporary buffer that holds triangles and vertices. /// public struct ProceduralMesh { /// - /// List of vertex indexes that make up triangles. + /// List of vertex indexes that make up triangles. /// public int[] triangles; /// - /// List of vertices in the mesh. + /// List of vertices in the mesh. /// public Vector3[] vertices; /// - /// MeshFilter of a GameObject that holds the chunk this ProceduralMesh represents. + /// MeshFilter of a GameObject that holds the chunk this ProceduralMesh represents. /// public MeshFilter mesh; }; @@ -80,11 +80,11 @@ public enum RESOLUTION public enum RANGE { /// - /// Geometry within 3.5 meters of the camera will be mapped. + /// Geometry within 3.5 meters of the camera will be mapped. /// NEAR, /// - /// Geometry within 5 meters of the camera will be mapped. + /// Geometry within 5 meters of the camera will be mapped. /// MEDIUM, /// @@ -104,61 +104,61 @@ public enum RANGE private ZEDSpatialMappingHelper spatialMappingHelper; /// - /// Amount of filtering to apply to the mesh. Higher values result in lower face counts/memory usage, but also lower precision. + /// Amount of filtering to apply to the mesh. Higher values result in lower face counts/memory usage, but also lower precision. /// public sl.FILTER filterParameters = sl.FILTER.MEDIUM; /// /// True when RequestSaveMesh has been called, so that ongoing threads know to stop and save the mesh - /// when everything is finished processing. + /// when everything is finished processing. /// private bool saveRequested = false; /// /// Where the new mesh will be saved. Should end in .obj. - /// If textured, a .mtl (material) file and .png file will appear in the same folder with the same base filename. + /// If textured, a .mtl (material) file and .png file will appear in the same folder with the same base filename. /// private string savePath = "Assets/ZEDMesh.obj"; #if UNITY_EDITOR /// - /// Color of the wireframe mesh to be drawn in Unity's Scene window. + /// Color of the wireframe mesh to be drawn in Unity's Scene window. /// private Color colorMesh = new Color(0.35f, 0.65f, 0.95f); #endif /// - /// Offset for the triangles buffer, so that new triangles are copied into the dynamic mesh starting at the correct index. + /// Offset for the triangles buffer, so that new triangles are copied into the dynamic mesh starting at the correct index. /// private int trianglesOffsetLastFrame; /// - /// Offset for the vertices buffer, so that new vertices are copied into the dynamic mesh starting at the correct index. + /// Offset for the vertices buffer, so that new vertices are copied into the dynamic mesh starting at the correct index. /// private int verticesOffsetLastFrame; /// - /// Offset for the UVs buffer, so that new UV coordinates are copied into the dynamic mesh starting at the correct index. + /// Offset for the UVs buffer, so that new UV coordinates are copied into the dynamic mesh starting at the correct index. /// private int uvsOffsetLastFrame; /// - /// Index of the mesh that was updated last frame. + /// Index of the mesh that was updated last frame. /// private int indexLastFrame; /// - /// Flag set to true if there were meshes what weren't completely updated last frame due to lack of time. + /// Flag set to true if there were meshes what weren't completely updated last frame due to lack of time. /// private bool remainMeshes = false; /// - /// The user has requested to stop spatial mapping. + /// The user has requested to stop spatial mapping. /// private bool stopWanted = false; /// - /// Whether the mesh is in the filtering stage of processing. + /// Whether the mesh is in the filtering stage of processing. /// private bool isFiltering = false; /// - /// Whether the filtering stage of the mesh's processing has started and finished. + /// Whether the filtering stage of the mesh's processing has started and finished. /// private bool isFilteringOver = false; @@ -169,17 +169,17 @@ public enum RANGE /// /// Whether any part of spatial mapping is running. Set to true when scanning has started - /// and set to false after the scanned mesh has finished bring filtered, textured, etc. + /// and set to false after the scanned mesh has finished bring filtered, textured, etc. /// private bool running = false; /// - /// Flag that causes spatial mapping to pause when true. Use SwitchPauseState() to change. + /// Flag that causes spatial mapping to pause when true. Use SwitchPauseState() to change. /// private bool pause = false; /// - /// Returns true if spatial mapping has been paused. This can be set to true even if spatial mapping isn't running. + /// Returns true if spatial mapping has been paused. This can be set to true even if spatial mapping isn't running. /// public bool IsPaused { @@ -187,17 +187,17 @@ public bool IsPaused } /// - /// Whether scanned meshes are visible or not. + /// Whether scanned meshes are visible or not. /// public bool display = false; /// - /// State of the scanning during its initialization. Used to know if it has started successfully. + /// State of the scanning during its initialization. Used to know if it has started successfully. /// private sl.ERROR_CODE scanningInitState; /// - /// Delegate for the OnMeshUpdate event, which is called every time a new chunk/submesh is processed. + /// Delegate for the OnMeshUpdate event, which is called every time a new chunk/submesh is processed. /// public delegate void OnNewMesh(); /// @@ -206,16 +206,16 @@ public bool IsPaused public event OnNewMesh OnMeshUpdate; /// - /// Delegate for OnMeshReady, which is called when spatial mapping has finished. + /// Delegate for OnMeshReady, which is called when spatial mapping has finished. /// public delegate void OnSpatialMappingEnded(); /// - /// Event called when spatial mapping has finished. + /// Event called when spatial mapping has finished. /// public event OnSpatialMappingEnded OnMeshReady; /// - /// Delegate for OnMeshStarted, which is called when spatial mapping has started. + /// Delegate for OnMeshStarted, which is called when spatial mapping has started. /// public delegate void OnSpatialMappingStarted(); /// @@ -224,7 +224,7 @@ public bool IsPaused public event OnSpatialMappingStarted OnMeshStarted; /// - /// GameObject to which every chunk of the mesh is parented. Represents the scanned mesh in Unity's Hierarchy. + /// GameObject to which every chunk of the mesh is parented. Represents the scanned mesh in Unity's Hierarchy. /// private GameObject holder = null; @@ -239,7 +239,7 @@ public bool IsPaused /// private bool updateThreadRunning = false; /// - /// Public accessor for whether the mesh update thread is running. + /// Public accessor for whether the mesh update thread is running. /// public bool IsUpdateThreadRunning { @@ -247,18 +247,18 @@ public bool IsUpdateThreadRunning } /// - /// True if the user has requested that spatial mapping start. + /// True if the user has requested that spatial mapping start. /// private bool spatialMappingRequested = false; /// - /// True if the real-world texture needs to be updated. - /// This only happens after scanning is finished and if Texturing (isTextured) is enabled. + /// True if the real-world texture needs to be updated. + /// This only happens after scanning is finished and if Texturing (isTextured) is enabled. /// private bool updateTexture = false; /// - /// True if the real-world texture has been updated. + /// True if the real-world texture has been updated. /// private bool updatedTexture = false; @@ -268,32 +268,32 @@ public bool IsUpdateThreadRunning private Thread scanningThread; /// - /// Thread that filters the mesh once scanning has finished. + /// Thread that filters the mesh once scanning has finished. /// private Thread filterThread; /// - /// Mutex for threaded spatial mapping. + /// Mutex for threaded spatial mapping. /// private object lockScanning = new object(); /// - /// Maximum time in milliseconds that can be spent processing retrieved meshes each frame. If time is exceeded, remaining meshes will be processed next frame. + /// Maximum time in milliseconds that can be spent processing retrieved meshes each frame. If time is exceeded, remaining meshes will be processed next frame. /// private const int MAX_TIME = 5; /// - /// True if the thread that updates the real-world texture is running. + /// True if the thread that updates the real-world texture is running. /// private bool texturingRunning = false; /// - /// Gravity direction vector relative to ZEDManager's orientation. Estimated after spatial mapping is finished. - /// Note that this will always be empty if using the ZED Mini as gravity is determined from its IMU at start. + /// Gravity direction vector relative to ZEDManager's orientation. Estimated after spatial mapping is finished. + /// Note that this will always be empty if using the ZED Mini as gravity is determined from its IMU at start. /// public Vector3 gravityEstimation; /// - /// Public accessor for texturingRunning, which is whether the thread that updates the real-world texture is running. + /// Public accessor for texturingRunning, which is whether the thread that updates the real-world texture is running. /// public bool IsTexturingRunning { @@ -303,35 +303,35 @@ public bool IsTexturingRunning } } /// - /// If true, the script will add MeshColliders to all scanned chunks to allow physics collisions. + /// If true, the script will add MeshColliders to all scanned chunks to allow physics collisions. /// private bool hasColliders = true; /// - /// True if texture from the real world should be applied to the mesh. If true, texture will be applied after scanning is finished. + /// True if texture from the real world should be applied to the mesh. If true, texture will be applied after scanning is finished. /// private bool isTextured = false; /// - /// Flag to check if we have attached ZEDMeshRenderer components to the ZED rig camera objects. - /// This is done in Update() if it hasn't been done yet. + /// Flag to check if we have attached ZEDMeshRenderer components to the ZED rig camera objects. + /// This is done in Update() if it hasn't been done yet. /// private bool setMeshRenderer = false; /// - /// References to the ZEDMeshRenderer components attached to the ZED rig camera objects. - /// [0] is the one attached to the left camera. [1] is the right camera, if it exists. + /// References to the ZEDMeshRenderer components attached to the ZED rig camera objects. + /// [0] is the one attached to the left camera. [1] is the right camera, if it exists. /// private ZEDMeshRenderer[] meshRenderer = new ZEDMeshRenderer[2]; /// - /// The scene's ZEDManager component, usually attached to the ZED rig GameObject (ZED_Rig_Mono or ZED_Rig_Stereo). + /// The scene's ZEDManager component, usually attached to the ZED rig GameObject (ZED_Rig_Mono or ZED_Rig_Stereo). /// private ZEDManager zedManager; /// - /// All chunks/submeshes with their indices. Only used while spatial mapping is running, as meshes are consolidated from - /// many small meshes into fewer, larger meshes when finished. See ChunkList for final submeshes. + /// All chunks/submeshes with their indices. Only used while spatial mapping is running, as meshes are consolidated from + /// many small meshes into fewer, larger meshes when finished. See ChunkList for final submeshes. /// public Dictionary Chunks { @@ -339,22 +339,22 @@ public bool IsTexturingRunning } /// /// List of the final mesh chunks created after scanning is finished. This is not filled beforehand because we use - /// many small chunks during scanning, and consolidate them afterward. See Chunks for runtime submeshes. + /// many small chunks during scanning, and consolidate them afterward. See Chunks for runtime submeshes. /// public List ChunkList = new List(); /// - /// Constructor. Spawns the holder GameObject to hold scanned chunks and the ZEDSpatialMappingHelper to handle low-level mesh processing. + /// Constructor. Spawns the holder GameObject to hold scanned chunks and the ZEDSpatialMappingHelper to handle low-level mesh processing. /// /// Transform of the scene's ZEDSpatialMappingManager. /// Reference to the ZEDCamera instance. /// The scene's ZEDManager component. public ZEDSpatialMapping(Transform transform, ZEDManager zedManager) { - //Instantiate the low-level mesh processing helper. + //Instantiate the low-level mesh processing helper. spatialMappingHelper = new ZEDSpatialMappingHelper(zedManager.zedCamera, Resources.Load("Materials/SpatialMapping/Mat_ZED_Texture") as Material, Resources.Load("Materials/SpatialMapping/Mat_ZED_Geometry_Wireframe") as Material); - //Assign basic values. + //Assign basic values. this.zedCamera = zedManager.zedCamera; this.zedManager = zedManager; scanningInitState = sl.ERROR_CODE.FAILURE; @@ -363,7 +363,7 @@ public ZEDSpatialMapping(Transform transform, ZEDManager zedManager) } /// - /// Begins the spatial mapping process. This is called when you press the "Start Spatial Mapping" button in the Inspector. + /// Begins the spatial mapping process. This is called when you press the "Start Spatial Mapping" button in the Inspector. /// /// Resolution setting - how detailed the mesh should be at scan time. /// Range setting - how close geometry must be to be scanned. @@ -387,13 +387,13 @@ public void StartStatialMapping(sl.SPATIAL_MAP_TYPE type, RESOLUTION resolutionP zedManager.gravityRotation = Quaternion.identity; - pause = false; //Make sure the scanning doesn't start paused because it was left paused at the last scan. + pause = false; //Make sure the scanning doesn't start paused because it was left paused at the last scan. } /// - /// Initializes flags used during scan, tells ZEDSpatialMappingHelper to activate the ZED SDK's scanning, and - /// starts the thread that updates the in-game chunks with data from the ZED SDK. + /// Initializes flags used during scan, tells ZEDSpatialMappingHelper to activate the ZED SDK's scanning, and + /// starts the thread that updates the in-game chunks with data from the ZED SDK. /// /// Resolution setting - how detailed the mesh should be at scan time. /// Range setting - how close geometry must be to be scanned. @@ -404,14 +404,14 @@ private sl.ERROR_CODE EnableSpatialMapping(sl.SPATIAL_MAP_TYPE type,RESOLUTION r sl.ERROR_CODE error; this.isTextured = isTextured; - //Tell the helper to start scanning. This call gets passed directly to the wrapper call in ZEDCamera. + //Tell the helper to start scanning. This call gets passed directly to the wrapper call in ZEDCamera. error = spatialMappingHelper.EnableSpatialMapping(type,ZEDSpatialMappingHelper.ConvertResolutionPreset(resolutionPreset), ZEDSpatialMappingHelper.ConvertRangePreset(rangePreset), isTextured); if (meshRenderer[0]) meshRenderer[0].isTextured = isTextured; if (meshRenderer[1]) meshRenderer[1].isTextured = isTextured; stopWanted = false; running = true; - if (error == sl.ERROR_CODE.SUCCESS) //If the scan was started successfully. + if (error == sl.ERROR_CODE.SUCCESS) //If the scan was started successfully. { //Set default flag settings. display = true; @@ -420,18 +420,18 @@ private sl.ERROR_CODE EnableSpatialMapping(sl.SPATIAL_MAP_TYPE type,RESOLUTION r updateTexture = false; updatedTexture = false; - //Clear all previous meshes. + //Clear all previous meshes. ClearMeshes(); //Request the first mesh update. Later, this will get called continuously after each update is applied. zedCamera.RequestMesh(); - //Launch the thread to retrieve the chunks and their sizes from the ZED SDK. + //Launch the thread to retrieve the chunks and their sizes from the ZED SDK. scanningThread = new Thread(UpdateMesh); updateThreadRunning = true; if (OnMeshStarted != null) { - OnMeshStarted(); //Invoke the event for other scripts, like ZEDMeshRenderer. + OnMeshStarted(); //Invoke the event for other scripts, like ZEDMeshRenderer. } scanningThread.Start(); } @@ -439,15 +439,15 @@ private sl.ERROR_CODE EnableSpatialMapping(sl.SPATIAL_MAP_TYPE type,RESOLUTION r } /// - /// Attach a new ZEDMeshRenderer to the ZED rig cameras. This is necessary to see the mesh. + /// Attach a new ZEDMeshRenderer to the ZED rig cameras. This is necessary to see the mesh. /// public void SetMeshRenderer() { - if (!setMeshRenderer) //Make sure we haven't do this yet. + if (!setMeshRenderer) //Make sure we haven't do this yet. { if (zedManager != null) { - Transform left = zedManager.GetLeftCameraTransform(); //Find the left camera. This exists in both ZED_Rig_Mono and ZED_Rig_Stereo. + Transform left = zedManager.GetLeftCameraTransform(); //Find the left camera. This exists in both ZED_Rig_Mono and ZED_Rig_Stereo. if (left != null) { meshRenderer[0] = left.gameObject.GetComponent(); @@ -457,7 +457,7 @@ public void SetMeshRenderer() } meshRenderer[0].Create(); } - Transform right = zedManager.GetRightCameraTransform(); //Find the right camera. This only exists in ZED_Rig_Stereo or a similar stereo rig. + Transform right = zedManager.GetRightCameraTransform(); //Find the right camera. This only exists in ZED_Rig_Stereo or a similar stereo rig. if (right != null) { meshRenderer[1] = right.gameObject.GetComponent(); @@ -478,7 +478,7 @@ public void SetMeshRenderer() /// public void Update() { - SetMeshRenderer(); //Make sure we have ZEDMeshRenderers on the cameras, so we can see the mesh. + SetMeshRenderer(); //Make sure we have ZEDMeshRenderers on the cameras, so we can see the mesh. if (meshUpdated || remainMeshes) { @@ -530,11 +530,11 @@ private void UpdateMesh() { while (updateThreadRunning) { - if (!remainMeshes) //If we don't have leftover meshes to apply from the last update. + if (!remainMeshes) //If we don't have leftover meshes to apply from the last update. { lock (lockScanning) { - if (meshUpdated == false && updateTexture) //If we need to update the texture, prioritize that. + if (meshUpdated == false && updateTexture) //If we need to update the texture, prioritize that. { //Get the last size of the mesh and get the texture size. spatialMappingHelper.ApplyTexture(); @@ -546,16 +546,16 @@ private void UpdateMesh() else if (zedCamera.GetMeshRequestStatus() == sl.ERROR_CODE.SUCCESS && !pause && meshUpdated == false) { spatialMappingHelper.UpdateMesh(); //Tells the ZED SDK to update its internal mesh. - spatialMappingHelper.RetrieveMesh(); //Applies the ZED SDK's internal mesh to values inside spatialMappingHelper. + spatialMappingHelper.RetrieveMesh(); //Applies the ZED SDK's internal mesh to values inside spatialMappingHelper. meshUpdated = true; } } //Time to process all the meshes spread on multiple frames. Thread.Sleep(5); } - else //If there are meshes that were collected but not processed yet. Happens if the last update took too long to process. + else //If there are meshes that were collected but not processed yet. Happens if the last update took too long to process. { - //Check every 5ms if the meshes are done being processed. + //Check every 5ms if the meshes are done being processed. Thread.Sleep(5); } @@ -563,7 +563,7 @@ private void UpdateMesh() } /// - /// Destroys all submeshes. + /// Destroys all submeshes. /// private void ClearMeshes() { @@ -597,10 +597,10 @@ private bool GoneOverTimeBudget(int startTimeMS) private void UpdateMeshMainthread(bool spreadUpdateOverTime = true) { //Cache the start time so we can measure how long this function is taking. - //We'll check when updating the submeshes so that if it takes too long, we'll stop updating until the next frame. + //We'll check when updating the submeshes so that if it takes too long, we'll stop updating until the next frame. int startTimeMS = (int)(Time.realtimeSinceStartup * 1000); int indexUpdate = 0; - lock (lockScanning) //Don't update if another thread is accessing. + lock (lockScanning) //Don't update if another thread is accessing. { if (updatedTexture) { @@ -632,9 +632,9 @@ private void UpdateMeshMainthread(bool spreadUpdateOverTime = true) { spatialMappingHelper.SetMesh(indexUpdate, ref verticesOffset, ref trianglesOffset, ref uvsOffset, holder.transform, updatedTexture); - if (spreadUpdateOverTime && GoneOverTimeBudget(startTimeMS)) //Check if it's taken too long this frame. + if (spreadUpdateOverTime && GoneOverTimeBudget(startTimeMS)) //Check if it's taken too long this frame. { - remainMeshes = true; //It has. Set this flag so we know to pick up where we left off next frame. + remainMeshes = true; //It has. Set this flag so we know to pick up where we left off next frame. break; } } @@ -659,7 +659,7 @@ private void UpdateMeshMainthread(bool spreadUpdateOverTime = true) meshUpdated = false; zedCamera.RequestMesh(); } - //If some meshes still need updating, we'll save the offsets so we know where to start next frame. + //If some meshes still need updating, we'll save the offsets so we know where to start next frame. else if (indexUpdate != spatialMappingHelper.NumberUpdatedSubMesh) { remainMeshes = true; @@ -669,7 +669,7 @@ private void UpdateMeshMainthread(bool spreadUpdateOverTime = true) trianglesOffsetLastFrame = trianglesOffset; uvsOffsetLastFrame = uvsOffset; } - //Save the mesh here if we requested it to be saved, as we just updated the meshes, including textures, if applicable. + //Save the mesh here if we requested it to be saved, as we just updated the meshes, including textures, if applicable. if (saveRequested && remainMeshes == false) { if (!isTextured || updatedTexture) @@ -683,10 +683,10 @@ private void UpdateMeshMainthread(bool spreadUpdateOverTime = true) if (OnMeshUpdate != null) { - OnMeshUpdate(); //Call the event if it has at least one listener. + OnMeshUpdate(); //Call the event if it has at least one listener. } - //The texture update is done in one pass, so this is only called once after the mesh has stopped scanning. + //The texture update is done in one pass, so this is only called once after the mesh has stopped scanning. if (updatedTexture) { DisableSpatialMapping(); @@ -722,8 +722,8 @@ public void ClearAllMeshes() } /// - /// Changes the visibility state of the meshes. - /// This is what's called when the Hide/Display Mesh button is clicked in the Inspector. + /// Changes the visibility state of the meshes. + /// This is what's called when the Hide/Display Mesh button is clicked in the Inspector. /// /// If true, the mesh will be displayed, else it will be hide. public void SwitchDisplayMeshState(bool newDisplayState) @@ -743,7 +743,7 @@ public void SwitchPauseState(bool newPauseState) /// /// Update the mesh collider with the current mesh so it can handle physics. - /// Calling it is slow, so it's only called after a scan is finished (or loaded). + /// Calling it is slow, so it's only called after a scan is finished (or loaded). /// public void UpdateMeshCollider(bool timeSlicing = false) { @@ -764,8 +764,8 @@ public void UpdateMeshCollider(bool timeSlicing = false) } /// - /// Properly clears existing scan data when the application is closed. - /// Called by OnApplicationQuit() when the application closes. + /// Properly clears existing scan data when the application is closed. + /// Called by OnApplicationQuit() when the application closes. /// public void Dispose() { @@ -781,7 +781,7 @@ public void Dispose() /// /// Disable the ZED's spatial mapping. The mesh will no longer be updated, but it is not deleted. - /// This gets called in Update() if the user requested a stop, and will execute once the scanning thread is free. + /// This gets called in Update() if the user requested a stop, and will execute once the scanning thread is free. /// private void DisableSpatialMapping() { @@ -796,7 +796,7 @@ private void DisableSpatialMapping() } /// - /// Save the mesh as an .obj file, and the area database as an .area file. + /// Save the mesh as an .obj file, and the area database as an .area file. /// This can be quite time-comsuming if you mapped a large area. /// public void RequestSaveMesh(string meshFilePath = "Assets/ZEDMesh.obj") @@ -806,7 +806,7 @@ public void RequestSaveMesh(string meshFilePath = "Assets/ZEDMesh.obj") if (updateThreadRunning) { - StopStatialMapping(); //Stop the mapping if it hasn't stopped already. + StopStatialMapping(); //Stop the mapping if it hasn't stopped already. } } @@ -815,7 +815,7 @@ public void RequestSaveMesh(string meshFilePath = "Assets/ZEDMesh.obj") /// Loads the mesh and the corresponding area file if it exists. It can be quite time-comsuming if you mapped a large area. /// Note that if there are no .area files found in the same folder, the mesh will not be loaded either. /// Loading a mesh this way also loads relevant data into buffers, so it's as if a scan was just finished - /// rather than a mesh asset being dropped into Unity. + /// rather than a mesh asset being dropped into Unity. /// True if loaded successfully, otherwise flase. /// public bool LoadMesh(string meshFilePath = "ZEDMesh.obj") @@ -847,7 +847,7 @@ public bool LoadMesh(string meshFilePath = "ZEDMesh.obj") zedCamera.DisableTracking(); Quaternion quat = Quaternion.identity; Vector3 tr = Vector3.zero; - if (zedCamera.EnableTracking(ref quat, ref tr, true, false, false, false, true, System.IO.File.Exists(basePath + ".area") ? basePath + ".area" : "") != sl.ERROR_CODE.SUCCESS) + if (zedCamera.EnableTracking(ref quat, ref tr, true, false, false, false, true, -1.0f, true, System.IO.File.Exists(basePath + ".area") ? basePath + ".area" : "") != sl.ERROR_CODE.SUCCESS) { Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED)); } @@ -900,7 +900,7 @@ public bool LoadMesh(string meshFilePath = "ZEDMesh.obj") if (OnMeshReady != null) { - OnMeshReady(); //Call the event if it has at least one listener. + OnMeshReady(); //Call the event if it has at least one listener. } if (meshRenderer[0]) meshRenderer[0].UpdateRenderingPlane(true); @@ -914,11 +914,11 @@ public bool LoadMesh(string meshFilePath = "ZEDMesh.obj") /// /// Filters the mesh with the current filtering parameters. - /// This reduces the total number of faces. More filtering means fewer faces. + /// This reduces the total number of faces. More filtering means fewer faces. /// public void FilterMesh() { - lock (lockScanning) //Wait for the thread to be available. + lock (lockScanning) //Wait for the thread to be available. { spatialMappingHelper.FilterMesh(filterParameters); spatialMappingHelper.ResizeMesh(); @@ -928,7 +928,7 @@ public void FilterMesh() } /// - /// Begin mesh filtering, and consolidate chunks into a reasonably low number when finished. + /// Begin mesh filtering, and consolidate chunks into a reasonably low number when finished. /// /// void PostProcessMesh(bool filter = true) @@ -943,7 +943,7 @@ void PostProcessMesh(bool filter = true) /// /// Consolidates meshes to get fewer chunks - one for every MAX_SUBMESH vertices. Then applies to - /// actual meshes in Unity. + /// actual meshes in Unity. /// public void MergeChunks() { @@ -960,7 +960,7 @@ public void MergeChunks() /// /// Multi-threaded component of ApplyTexture(). Filters, then updates the mesh once, but as - /// updateTexture is set to true when this is called, UpdateMesh() will also handle applying the texture. + /// updateTexture is set to true when this is called, UpdateMesh() will also handle applying the texture. /// void ApplyTextureThreaded() { @@ -970,7 +970,7 @@ void ApplyTextureThreaded() /// - /// Stops the spatial mapping and begins the final processing, including adding texture. + /// Stops the spatial mapping and begins the final processing, including adding texture. /// public bool ApplyTexture() { @@ -988,7 +988,7 @@ public bool ApplyTexture() } /// - /// Stop the spatial mapping and calls appropriate functions to process the final mesh. + /// Stop the spatial mapping and calls appropriate functions to process the final mesh. /// private void Stop() { @@ -1013,7 +1013,7 @@ private void Stop() //filterThread.Start(); stopRunning = true; } - SwitchDisplayMeshState(true); //Make it default to visible. + SwitchDisplayMeshState(true); //Make it default to visible. } /// @@ -1034,10 +1034,10 @@ public void StopStatialMapping() } /// - /// Combines the meshes from all the current chunks and saves them into a single mesh. If textured, - /// will also save a .mtl file and .png file. + /// Combines the meshes from all the current chunks and saves them into a single mesh. If textured, + /// will also save a .mtl file and .png file. /// This must only be called once all the chunks are completely finalized, or else they won't be filtered - /// or have their UVs set. + /// or have their UVs set. /// Called after RequestSaveMesh has been called after the main thread has the chance to stop the scan /// and finalize everything. /// @@ -1048,7 +1048,7 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") CultureInfo oldCulture = Thread.CurrentThread.CurrentCulture; // Save the old culture to set it back once we are done Thread.CurrentThread.CurrentCulture = System.Globalization.CultureInfo.InvariantCulture; - //Make sure the destination file ends in .obj - only .obj file format is supported. + //Make sure the destination file ends in .obj - only .obj file format is supported. string extension = meshFilePath.Substring(meshFilePath.Length - 4); if (extension.ToLower() != ".obj") { @@ -1058,7 +1058,7 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") lock (lockScanning) { Debug.Log("Saving mesh to " + meshFilePath); - //Count how many vertices and triangles are in all the chunk meshes so we know how large of an array to allocate. + //Count how many vertices and triangles are in all the chunk meshes so we know how large of an array to allocate. int vertcount = 0; int tricount = 0; @@ -1075,7 +1075,7 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") int[] triangles = new int[tricount]; int vertssofar = 0; //We keep an ongoing tally of how many verts/tris we've put so far so as to increment - int trissofar = 0; //where we copy to in the arrays, and also to increment the vertex indices in the triangle array. + int trissofar = 0; //where we copy to in the arrays, and also to increment the vertex indices in the triangle array. for (int i = 0; i < Chunks.Keys.Count; i++) { @@ -1099,15 +1099,15 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") Material savemat = Chunks[0].o.GetComponent().material; //All chunks share the same material. - //We'll need to know the base file name for this and the .mtl file. We'll extract it. - //Since both forward and backslashes are valid for the file pack, determine which they used last. + //We'll need to know the base file name for this and the .mtl file. We'll extract it. + //Since both forward and backslashes are valid for the file pack, determine which they used last. int forwardindex = meshFilePath.LastIndexOf('/'); int backindex = meshFilePath.LastIndexOf('\\'); int slashindex = forwardindex > backindex ? forwardindex : backindex; string basefilename = meshFilePath.Substring(slashindex + 1, meshFilePath.LastIndexOf(".") - slashindex - 1); - //Create the string file. - //Importantly, we flip the X value (and reverse the triangles) since the scanning module uses a different handedness than Unity. + //Create the string file. + //Importantly, we flip the X value (and reverse the triangles) since the scanning module uses a different handedness than Unity. StringBuilder objstring = new StringBuilder(); objstring.Append("# Generated by the ZED SDK.\n"); @@ -1116,8 +1116,8 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") foreach (Vector3 vec in vertices) { - //X is flipped because of Unity's handedness. - objstring.Append(string.Format("v {0} {1} {2}\n", -vec.x, vec.y, vec.z)); + //X is flipped because of Unity's handedness. + objstring.Append(string.Format("v {0} {1} {2}\n", -vec.x, vec.y, vec.z)); } objstring.Append("\n"); foreach (Vector2 uv in uvs) @@ -1139,7 +1139,7 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") for (int i = 0; i < triangles.Length; i += 3) { - //Triangles are reversed so that surface normals face the right way after the X vertex flip. + //Triangles are reversed so that surface normals face the right way after the X vertex flip. objstring.Append(string.Format("f {0}/{0}/{0} {1}/{1}/{1} {2}/{2}/{2}\n", triangles[i + 2] + 1, triangles[i + 1] + 1, triangles[i + 0] + 1)); } @@ -1149,12 +1149,12 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") swriter.Write(objstring.ToString()); swriter.Close(); - //Create a texture and .mtl file for your scan, if textured. + //Create a texture and .mtl file for your scan, if textured. if (isTextured) { - //First, the texture. - //You can't save a Texture2D directly to a file since it's stored on the GPU. - //So we use a RenderTexture as a buffer, which we can read into a new Texture2D on the CPU-side. + //First, the texture. + //You can't save a Texture2D directly to a file since it's stored on the GPU. + //So we use a RenderTexture as a buffer, which we can read into a new Texture2D on the CPU-side. Texture textosave = savemat.mainTexture; RenderTexture buffertex = new RenderTexture(textosave.width, textosave.height, 0); @@ -1165,8 +1165,8 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") RenderTexture.active = buffertex; Texture2D texcopy = new Texture2D(textosave.width, textosave.height); - texcopy.ReadPixels(new Rect(0, 0, buffertex.width, buffertex.height), 0, 0); - texcopy.Apply(); //It's now on the CPU! + texcopy.ReadPixels(new Rect(0, 0, buffertex.width, buffertex.height), 0, 0); + texcopy.Apply(); //It's now on the CPU! byte[] imagebytes = texcopy.EncodeToPNG(); string imagepath = meshFilePath.Substring(0, meshFilePath.LastIndexOf(".")) + "_material0000_map_Kd.png"; @@ -1174,7 +1174,7 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") RenderTexture.active = oldactivert; - //Now the material file. + //Now the material file. StringBuilder mtlstring = new StringBuilder(); mtlstring.Append("newmtl " + "material0000" + "\n"); @@ -1195,14 +1195,14 @@ private void SaveMeshNow(string meshFilePath = "Assets/ZEDMesh.obj") } } - //Save the .area file for spatial memory. + //Save the .area file for spatial memory. string areaName = meshFilePath.Substring(0, meshFilePath.LastIndexOf(".")) + ".area"; - zedCamera.SaveCurrentArea(areaName); + zedCamera.SaveAreaMap(areaName); Thread.CurrentThread.CurrentCulture = oldCulture; } /// - /// Used by Unity to draw the meshes in the editor with a double pass shader. + /// Used by Unity to draw the meshes in the editor with a double pass shader. /// #if UNITY_EDITOR private void OnDrawGizmos() @@ -1224,14 +1224,14 @@ private void OnDrawGizmos() /// - /// Low-level spatial mapping class. Calls SDK wrapper functions to get mesh data and applies it to Unity meshes. - /// Functions are usually called from ZEDSpatialMapping, but buffer data is held within. - /// Note that some values are updated directly from the ZED wrapper dll, so such assignments aren't visible in the plugin. + /// Low-level spatial mapping class. Calls SDK wrapper functions to get mesh data and applies it to Unity meshes. + /// Functions are usually called from ZEDSpatialMapping, but buffer data is held within. + /// Note that some values are updated directly from the ZED wrapper dll, so such assignments aren't visible in the plugin. /// private class ZEDSpatialMappingHelper { /// - /// Reference to the ZEDCamera instance. Used to call SDK functions. + /// Reference to the ZEDCamera instance. Used to call SDK functions. /// private sl.ZEDCamera zedCamera; /// @@ -1241,21 +1241,21 @@ private class ZEDSpatialMappingHelper /*** Number of vertices/triangles/indices per chunk***/ /// - /// Total vertices in each chunk/submesh. + /// Total vertices in each chunk/submesh. /// private int[] numVerticesInSubmesh = new int[MAX_SUBMESH]; /// - /// Total triangles in each chunk/submesh. + /// Total triangles in each chunk/submesh. /// private int[] numTrianglesInSubmesh = new int[MAX_SUBMESH]; /// - /// Total indices per chunk/submesh. + /// Total indices per chunk/submesh. /// private int[] UpdatedIndices = new int[MAX_SUBMESH]; /*** Number of vertices/uvs/indices at the moment**/ /// - /// Vertex count in current submesh. + /// Vertex count in current submesh. /// private int numVertices = 0; /// @@ -1263,17 +1263,17 @@ private class ZEDSpatialMappingHelper /// private int numTriangles = 0; /// - /// How many submeshes were updated. + /// How many submeshes were updated. /// private int numUpdatedSubmesh = 0; /*** The current data in the current submesh***/ /// - /// Vertices of the current submesh. + /// Vertices of the current submesh. /// private Vector3[] vertices; /// - /// UVs of the current submesh. + /// UVs of the current submesh. /// private Vector2[] uvs; /// @@ -1281,26 +1281,26 @@ private class ZEDSpatialMappingHelper /// private int[] triangles; /// - /// Width and height of the mesh texture, if any. + /// Width and height of the mesh texture, if any. /// private int[] texturesSize = new int[2]; /// - /// Dictionary of all existing chunks. + /// Dictionary of all existing chunks. /// public Dictionary chunks = new Dictionary(MAX_SUBMESH); /// - /// Material with real-world texture, applied to the mesh when Texturing (isTextured) is enabled. + /// Material with real-world texture, applied to the mesh when Texturing (isTextured) is enabled. /// private Material materialTexture; /// - /// Material used to draw the mesh. Applied to chunks during the scan, and replaced with materialTexture - /// only if Texturing (isTextured) is enabled. + /// Material used to draw the mesh. Applied to chunks during the scan, and replaced with materialTexture + /// only if Texturing (isTextured) is enabled. /// private Material materialMesh; /// - /// Public accessor for the number of chunks that have been updated. + /// Public accessor for the number of chunks that have been updated. /// public int NumberUpdatedSubMesh { @@ -1308,7 +1308,7 @@ public int NumberUpdatedSubMesh } /// - /// Gets the material used to draw spatial mapping meshes without real-world textures. + /// Gets the material used to draw spatial mapping meshes without real-world textures. /// /// public Material GetMaterialSpatialMapping() @@ -1317,7 +1317,7 @@ public Material GetMaterialSpatialMapping() } /// - /// Constructor. Gets the ZEDCamera instance and sets materials used on the meshes. + /// Constructor. Gets the ZEDCamera instance and sets materials used on the meshes. /// /// /// @@ -1370,7 +1370,7 @@ static public float ConvertResolutionPreset(RESOLUTION resolutionPreset) } /// - /// Tells the ZED SDK to begin spatial mapping. + /// Tells the ZED SDK to begin spatial mapping. /// /// @@ -1380,7 +1380,7 @@ public sl.ERROR_CODE EnableSpatialMapping(sl.SPATIAL_MAP_TYPE type,float resolut } /// - /// Tells the ZED SDK to stop spatial mapping. + /// Tells the ZED SDK to stop spatial mapping. /// public void DisableSpatialMapping() { @@ -1392,7 +1392,7 @@ public void DisableSpatialMapping() /// public ZEDSpatialMapping.Chunk CreateNewMesh(int i, Material meshMat, Transform holder) { - //Initialize the chunk and create a GameObject for it. + //Initialize the chunk and create a GameObject for it. ZEDSpatialMapping.Chunk chunk = new ZEDSpatialMapping.Chunk(); chunk.o = GameObject.CreatePrimitive(PrimitiveType.Quad); chunk.o.layer = zedCamera.TagInvisibleToZED; @@ -1402,7 +1402,7 @@ public ZEDSpatialMapping.Chunk CreateNewMesh(int i, Material meshMat, Transform chunk.o.transform.localRotation = Quaternion.identity; Mesh m = new Mesh(); - m.MarkDynamic(); //Allows it to be updated regularly without performance issues. + m.MarkDynamic(); //Allows it to be updated regularly without performance issues. chunk.mesh = m; //Set graphics settings to not treat the chunk like a physical object (no shadows, no reflections, no lights, etc.). @@ -1426,11 +1426,11 @@ public ZEDSpatialMapping.Chunk CreateNewMesh(int i, Material meshMat, Transform /// /// Adds a MeshCollider to each chunk for physics. This is time-consuming, so it's only called - /// once scanning is finished and the final mesh is being processed. + /// once scanning is finished and the final mesh is being processed. /// public void UpdateMeshCollider(List listMeshes, int startIndex = 0) { - List idsToDestroy = new List(); //List of meshes that are too small for colliders and will be destroyed. + List idsToDestroy = new List(); //List of meshes that are too small for colliders and will be destroyed. //Update each mesh with a collider. for (int i = startIndex; i < listMeshes.Count; ++i) @@ -1443,7 +1443,7 @@ public void UpdateMeshCollider(List listMeshes, int sta m = submesh.o.AddComponent(); } - //If a mesh has 2 or fewer vertices, it's useless, so queue it up to be destroyed. + //If a mesh has 2 or fewer vertices, it's useless, so queue it up to be destroyed. Mesh tempMesh = submesh.o.GetComponent().sharedMesh; if (tempMesh.vertexCount < 3) { @@ -1457,13 +1457,13 @@ public void UpdateMeshCollider(List listMeshes, int sta m.sharedMesh.RecalculateBounds(); } - //Destroy all useless meshes now that we've iterated through all the meshes. + //Destroy all useless meshes now that we've iterated through all the meshes. for (int i = 0; i < idsToDestroy.Count; ++i) { GameObject.Destroy(chunks[idsToDestroy[i]].o); chunks.Remove(idsToDestroy[i]); } - Clear(); //Clear the buffer data now that we have Unity meshes. + Clear(); //Clear the buffer data now that we have Unity meshes. } /// @@ -1475,7 +1475,7 @@ public void ApplyTexture() } /// - /// Tells the ZED SDK to update its internal mesh from spatial mapping. The resulting mesh will later be retrieved with RetrieveMesh(). + /// Tells the ZED SDK to update its internal mesh from spatial mapping. The resulting mesh will later be retrieved with RetrieveMesh(). /// public void UpdateMesh() { @@ -1484,8 +1484,8 @@ public void UpdateMesh() } /// - /// Retrieves the mesh vertices and triangles from the ZED SDK. This must be called after UpdateMesh() has been called. - /// Note that the actual assignment to vertices and triangles happens from within the wrapper .dll via pointers, not a C# script. + /// Retrieves the mesh vertices and triangles from the ZED SDK. This must be called after UpdateMesh() has been called. + /// Note that the actual assignment to vertices and triangles happens from within the wrapper .dll via pointers, not a C# script. /// public void RetrieveMesh() { @@ -1508,7 +1508,7 @@ public void Clear() } /// - /// Process data from a submesh retrieved from the ZED SDK into a chunk, which includes a GameObject and visible mesh. + /// Process data from a submesh retrieved from the ZED SDK into a chunk, which includes a GameObject and visible mesh. /// /// Index of the submesh/chunk to be updated. /// Starting index in the vertices stack. @@ -1520,14 +1520,14 @@ public void SetMesh(int indexUpdate, ref int verticesOffset, ref int trianglesOf { ZEDSpatialMapping.Chunk subMesh; int updatedIndex = UpdatedIndices[indexUpdate]; - if (!chunks.TryGetValue(updatedIndex, out subMesh)) //Use the existing chunk/submesh if already in the dictionary. Otherwise, make a new one. + if (!chunks.TryGetValue(updatedIndex, out subMesh)) //Use the existing chunk/submesh if already in the dictionary. Otherwise, make a new one. { subMesh = CreateNewMesh(updatedIndex, materialMesh, holder); } Mesh currentMesh = subMesh.mesh; ZEDSpatialMapping.ProceduralMesh dynamicMesh = subMesh.proceduralMesh; - //If the dynamicMesh's triangle and vertex arrays are unassigned or are the wrong size, redo the array. + //If the dynamicMesh's triangle and vertex arrays are unassigned or are the wrong size, redo the array. if (dynamicMesh.triangles == null || dynamicMesh.triangles.Length != 3 * numTrianglesInSubmesh[indexUpdate]) { dynamicMesh.triangles = new int[3 * numTrianglesInSubmesh[indexUpdate]]; @@ -1537,10 +1537,10 @@ public void SetMesh(int indexUpdate, ref int verticesOffset, ref int trianglesOf dynamicMesh.vertices = new Vector3[numVerticesInSubmesh[indexUpdate]]; } - //Clear the old mesh data. + //Clear the old mesh data. currentMesh.Clear(); - //Copy data retrieved from the ZED SDK into the ProceduralMesh buffer in the current chunk. + //Copy data retrieved from the ZED SDK into the ProceduralMesh buffer in the current chunk. System.Array.Copy(vertices, verticesOffset, dynamicMesh.vertices, 0, numVerticesInSubmesh[indexUpdate]); verticesOffset += numVerticesInSubmesh[indexUpdate]; System.Buffer.BlockCopy(triangles, trianglesOffset * sizeof(int), dynamicMesh.triangles, 0, 3 * numTrianglesInSubmesh[indexUpdate] * sizeof(int)); //Block copy has better performance than Array. @@ -1550,7 +1550,7 @@ public void SetMesh(int indexUpdate, ref int verticesOffset, ref int trianglesOf dynamicMesh.mesh.sharedMesh = currentMesh; - //If textured, add UVs. + //If textured, add UVs. if (updatedTex) { Vector2[] localUvs = new Vector2[numVerticesInSubmesh[indexUpdate]]; @@ -1563,19 +1563,19 @@ public void SetMesh(int indexUpdate, ref int verticesOffset, ref int trianglesOf } /// - /// Retrieves the entire mesh and texture (vertices, triangles, and uvs) from the ZED SDK. - /// Differs for normal retrieval as the UVs and texture are retrieved. - /// This is only called after scanning has been stopped, and only if Texturing is enabled. + /// Retrieves the entire mesh and texture (vertices, triangles, and uvs) from the ZED SDK. + /// Differs for normal retrieval as the UVs and texture are retrieved. + /// This is only called after scanning has been stopped, and only if Texturing is enabled. /// public void SetMeshAndTexture() { - //If the texture is too large, it's impossible to add the texture to the mesh. + //If the texture is too large, it's impossible to add the texture to the mesh. if (texturesSize[0] > 8192) return; Texture2D textureMesh = new Texture2D(texturesSize[0], texturesSize[1], TextureFormat.ARGB32, false); if (textureMesh != null) - { + { materialTexture.SetTexture("_MainTex", textureMesh); vertices = new Vector3[numVertices]; uvs = new Vector2[numVertices]; @@ -1616,7 +1616,7 @@ public int GetHeightTexture() } /// - /// Resize the mesh buffer according to how many vertices are needed by the current submesh/chunk. + /// Resize the mesh buffer according to how many vertices are needed by the current submesh/chunk. /// public void ResizeMesh() { @@ -1641,8 +1641,8 @@ public void FilterMesh(sl.FILTER filterParameters) } /// - /// Tells the ZED SDK to consolidate the chunks into a smaller number of large chunks. - /// Useful because having many small chunks is more performant for scanning, but fewer large chunks are otherwise easier to work with. + /// Tells the ZED SDK to consolidate the chunks into a smaller number of large chunks. + /// Useful because having many small chunks is more performant for scanning, but fewer large chunks are otherwise easier to work with. /// public void MergeChunks() { diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs index ca99b1b0..d83172ab 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs @@ -405,7 +405,7 @@ public enum shaderType public sl.BODY_FORMAT objectDetectionBodyFormat = sl.BODY_FORMAT.POSE_34; [HideInInspector] - public sl.BODY_FORMAT bodyFormat = sl.BODY_FORMAT.POSE_34; + public int minimumKeypointsThreshold = 0; /// /// Detection sensitivity. Represents how sure the SDK must be that an object exists to report it. Ex: If the threshold is 80, then only objects @@ -913,6 +913,18 @@ public float maxDepthRange [HideInInspector] public bool enableIMUFusion = true; + /// + /// This setting allows you to change the minimum depth used by the SDK for Positional Tracking. + /// + [HideInInspector] + public float depthMinRange = -1.0f; + + /// + /// This setting allows you to override 2 of the 3 rotations from initial_world_transform using the IMU gravity + /// + [HideInInspector] + public bool setGravityAsOrigin = true; + /// /// If true, the ZED SDK will subtly adjust the ZED's calibration during runtime to account for heat and other factors. /// Reasons to disable this are rare. @@ -1084,10 +1096,11 @@ public enum VideoSettingsInitMode /// (sensing mode, point cloud, if depth is enabled, etc.). /// private sl.RuntimeParameters runtimeParameters; - /// - /// Enables the ZED SDK's depth stabilizer, which improves depth accuracy and stability. There's rarely a reason to disable this. - /// - private bool depthStabilizer = true; + /// This sets the depth stabilizer temporal smoothing strength. + /// the depth stabilize smooth range is [0, 100] + /// 0 means a low temporal smmoothing behavior(for highly dynamic scene), + /// 100 means a high temporal smoothing behavior(for static scene) + private float depthStabilization = -1f; /// /// Indicates if Sensors( IMU,...) is needed/required. For most applications, it is required. /// Sensors are transmitted through USB2.0 lines. If USB2 is not available (USB3.0 only extension for example), set it to false. @@ -1805,11 +1818,12 @@ void Awake() //Set first few parameters for initialization. This will get passed to the ZED SDK when initialized. initParameters = new sl.InitParameters(); initParameters.resolution = resolution; + initParameters.serialNumber = serialNumber; initParameters.cameraFPS = FPS; initParameters.serialNumber = serialNumber; initParameters.cameraDeviceID = (int)cameraID; initParameters.depthMode = depthMode; - initParameters.depthStabilization = depthStabilizer; + initParameters.depthStabilization = depthStabilization; initParameters.sensorsRequired = sensorsRequired; initParameters.depthMaximumDistance = 40.0f; // 40 meters should be enough for all applications initParameters.cameraImageFlip = (int)cameraFlipMode; @@ -2184,6 +2198,7 @@ private void AcquireImages() { if (requestNewFrame && zedReady) { + if (inputType == sl.INPUT_TYPE.INPUT_TYPE_SVO) { //handle pause @@ -2277,7 +2292,10 @@ private void ZEDReady() { sl.ERROR_CODE err = zedCamera.EstimateInitialPosition(ref initialRotation, ref initialPosition); if (zedCamera.GetCameraModel() != sl.MODEL.ZED) + { zedCamera.GetInternalIMUOrientation(ref initialRotation, sl.TIME_REFERENCE.IMAGE); + } + if (err != sl.ERROR_CODE.SUCCESS) Debug.LogWarning("Failed to estimate initial camera position"); @@ -2321,7 +2339,7 @@ void EnableTrackingThreaded() } sl.ERROR_CODE err = (zedCamera.EnableTracking(ref zedOrientation, ref zedPosition, enableSpatialMemory, - enablePoseSmoothing, estimateInitialPosition, trackingIsStatic, enableIMUFusion, pathSpatialMemory)); + enablePoseSmoothing, estimateInitialPosition, trackingIsStatic, enableIMUFusion, depthMinRange, setGravityAsOrigin, pathSpatialMemory)); //Now enable the tracking with the proper parameters. if (!(enableTracking = (err == sl.ERROR_CODE.SUCCESS))) @@ -2695,7 +2713,7 @@ public void StartObjectDetection() sl.AI_Model_status AiModelStatus = sl.ZEDCamera.CheckAIModelStatus(sl.ZEDCamera.cvtDetection(objectDetectionModel)); if (!AiModelStatus.optimized) { - Debug.LogError("The Model * " + objectDetectionModel.ToString() + " * has not been downloaded/optimized. Use the ZED Diagnostic tool to download/optimze all the AI model you plan to use."); + // Debug.LogError("The Model * " + objectDetectionModel.ToString() + " * has not been downloaded/optimized. Use the ZED Diagnostic tool to download/optimze all the AI model you plan to use."); // return; } //We start a coroutine so we can delay actually starting the detection. @@ -2768,6 +2786,8 @@ private IEnumerator startObjectDetection() od_runtime_params.objectClassFilter[(int)sl.OBJECT_CLASS.FRUIT_VEGETABLE] = Convert.ToInt32(objectClassFruitVegetableFilter); od_runtime_params.objectClassFilter[(int)sl.OBJECT_CLASS.SPORT] = Convert.ToInt32(objectClassSportFilter); + od_runtime_params.minimumKeypointsThreshold = minimumKeypointsThreshold; + System.Diagnostics.Stopwatch watch = new System.Diagnostics.Stopwatch(); //Time how long the loading takes so we can tell the user. watch.Start(); @@ -2824,6 +2844,8 @@ public void UpdateObjectsDetection() od_runtime_params.objectClassFilter[(int)sl.OBJECT_CLASS.ELECTRONICS] = Convert.ToInt32(objectClassElectronicsFilter); od_runtime_params.objectClassFilter[(int)sl.OBJECT_CLASS.FRUIT_VEGETABLE] = Convert.ToInt32(objectClassFruitVegetableFilter); + od_runtime_params.minimumKeypointsThreshold = minimumKeypointsThreshold; + if (objectDetectionImageSyncMode == false) RetrieveObjectDetectionFrame(); //If true, this is called in the AcquireImages function in the image acquisition thread. if (newobjectsframeready) @@ -3045,7 +3067,6 @@ public void Reset() forceCloseInit = false; Awake(); - } public void Reboot() @@ -3087,6 +3108,10 @@ public void Reboot() Thread.Sleep(500); } } + else + { + Debug.LogWarning("Reboot has failed with error " + err); + } if (isCameraAvailable) { @@ -3280,7 +3305,7 @@ void OnValidate() { //Enables tracking and initializes the first position of the camera. if (!(enableTracking = (zedCamera.EnableTracking(ref zedOrientation, ref zedPosition, enableSpatialMemory, enablePoseSmoothing, estimateInitialPosition, trackingIsStatic, - enableIMUFusion, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS))) + enableIMUFusion, depthMinRange, setGravityAsOrigin, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS))) { isZEDTracked = false; throw new Exception(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED)); diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader b/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader index be416e4e..b81208d7 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader @@ -116,6 +116,7 @@ Properties float3 normals = tex2D(_NormalsTex, i.depthUV).rgb; outColor = saturate(tex2D (_MainTex, i.depthUV).bgra); outColor *= _ZEDFactorAffectReal; + outDepth = 0; #ifdef NO_DEPTH #if SHADER_API_D3D11 diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/ZED_PointCloud.shader b/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/ZED_PointCloud.shader index 8c471988..c6b597d5 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/ZED_PointCloud.shader +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Shaders/ZED_PointCloud.shader @@ -5,7 +5,7 @@ Shader "ZED/ZED PointCloud" Properties { _MainTex ("Texture", 2D) = "white" {} - _Size("Size", Range(0.1,2)) = 0.1 + _Size("Size", Range(0.1,2)) = 2 } SubShader { @@ -28,7 +28,7 @@ Shader "ZED/ZED PointCloud" float4 position : SV_POSITION; float4 color : COLOR; float3 normal : NORMAL; - + float size : PSIZE; }; sampler2D _MainTex; @@ -61,7 +61,7 @@ Shader "ZED/ZED PointCloud" o.position = mul(mul(UNITY_MATRIX_VP, _Position ), XYZPos); o.color = float4(tex2Dlod(_ColorTex, float4(uv, 0.0, 0.0)).bgr ,1.0f); - + o.size = _Size; return o; } diff --git a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs index 0c95a123..39088ed1 100644 --- a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs +++ b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs @@ -285,7 +285,7 @@ public int TagInvisibleToZED /// /// Current Plugin Version. /// - public static readonly System.Version PluginVersion = new System.Version(3, 7, 1); + public static readonly System.Version PluginVersion = new System.Version(3, 8, 0); /******** DLL members ***********/ [DllImport(nameDll, EntryPoint = "GetRenderEventFunc")] @@ -345,6 +345,12 @@ public int TagInvisibleToZED [DllImport(nameDll, EntryPoint = "sl_get_device_list")] private static extern void dllz_get_device_list(sl.DeviceProperties[] deviceList, out int nbDevices); + /* + * GetStreamingDeviceList function + */ + [DllImport(nameDll, EntryPoint = "sl_get_streaming_device_list")] + private static extern void dllz_get_streaming_device_list(sl.StreamingProperties[] streamingDeviceList, out int nbDevices); + /* * Reboot function. */ @@ -357,9 +363,18 @@ public int TagInvisibleToZED [DllImport(nameDll, EntryPoint = "sl_enable_recording")] private static extern int dllz_enable_recording(int cameraID, System.Text.StringBuilder video_filename, int compresssionMode,int bitrate,int target_fps,bool transcode); + [DllImport(nameDll, EntryPoint = "sl_get_recording_status")] + private static extern IntPtr dllz_get_recording_status(int cameraID); + + [DllImport(nameDll, EntryPoint = "sl_get_recording_parameters")] + private static extern IntPtr dllz_get_recording_parameters(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_disable_recording")] private static extern bool dllz_disable_recording(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_pause_recording")] + private static extern void dllz_pause_recording(int cameraID, bool status); + /* * Texturing functions. */ @@ -416,6 +431,9 @@ public int TagInvisibleToZED [DllImport(nameDll, EntryPoint = "sl_get_camera_fps")] private static extern float dllz_get_camera_fps(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_is_opened")] + private static extern bool dllz_is_opened(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_get_width")] private static extern int dllz_get_width(int cameraID); @@ -457,6 +475,15 @@ public int TagInvisibleToZED [DllImport(nameDll, EntryPoint = "sl_get_frame_dropped_percent")] private static extern float dllz_get_frame_dropped_percent(int cameraID); +/* + [DllImport(nameDll, EntryPoint = "sl_get_init_parameters")] + private static extern IntPtr dllz_get_init_parameters(int cameraID); + + [DllImport(nameDll, EntryPoint = "sl_get_runtime_parameters")] + private static extern IntPtr dllz_get_runtime_parameters(int cameraID); + + [DllImport(nameDll, EntryPoint = "sl_get_positional_tracking_parameters")] + private static extern IntPtr dllz_get_positional_tracking_parameters(int cameraID);*/ /* * SVO control functions. @@ -503,19 +530,25 @@ public int TagInvisibleToZED [DllImport(nameDll, EntryPoint = "sl_get_depth_min_range_value")] private static extern float dllz_get_depth_min_range_value(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_get_current_min_max_depth")] + private static extern float dllz_get_current_min_max_depth(int cameraID, ref float min, ref float max); + /* * Motion Tracking functions. */ [DllImport(nameDll, EntryPoint = "sl_enable_positional_tracking_unity")] private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat, ref Vector3 vec, bool enableSpatialMemory = false, bool enablePoseSmoothing = false, bool enableFloorAlignment = false, - bool trackingIsStatic = false, bool enableIMUFusion = true, System.Text.StringBuilder areaFilePath = null); + bool trackingIsStatic = false, bool enableIMUFusion = true, float depthMinRange = -1.0f, bool setGravityAsOrigin = true, System.Text.StringBuilder aeraFilePath = null); [DllImport(nameDll, EntryPoint = "sl_disable_positional_tracking")] private static extern void dllz_disable_tracking(int cameraID, System.Text.StringBuilder path); + [DllImport(nameDll, EntryPoint = "sl_is_positional_tracking_enabled")] + private static extern bool dllz_is_positional_tracking_enabled(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_save_area_map")] - private static extern int dllz_save_current_area(int cameraID, System.Text.StringBuilder path); + private static extern int dllz_save_area_map(int cameraID, System.Text.StringBuilder path); [DllImport(nameDll, EntryPoint = "sl_get_position_data")] private static extern int dllz_get_position_data(int cameraID, ref Pose pose, int reference_frame); @@ -550,6 +583,9 @@ private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat [DllImport(nameDll, EntryPoint = "sl_get_area_export_state")] private static extern int dllz_get_area_export_state(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_set_region_of_interest")] + private static extern int dllz_sl_set_region_of_interest(int cameraID, IntPtr roiMask); + /* * Spatial Mapping functions. */ @@ -559,6 +595,9 @@ private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat [DllImport(nameDll, EntryPoint = "sl_disable_spatial_mapping")] private static extern void dllz_disable_spatial_mapping(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_get_spatial_mapping_parameters")] + private static extern IntPtr dllz_get_spatial_mapping_parameters(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_pause_spatial_mapping")] private static extern void dllz_pause_spatial_mapping(int cameraID, bool status); @@ -632,6 +671,8 @@ private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat [DllImport(nameDll, EntryPoint = "sl_disable_streaming")] private static extern void dllz_disable_streaming(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_get_streaming_parameters")] + private static extern IntPtr dllz_get_streaming_parameters(int cameraID); /* * Objects Detection functions (starting v3.0) @@ -647,6 +688,9 @@ private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat [DllImport(nameDll, EntryPoint = "sl_enable_objects_detection")] private static extern int dllz_enable_objects_detection(int cameraID, ref dll_ObjectDetectionParameters od_params); + [DllImport(nameDll, EntryPoint = "sl_get_object_detection_parameters")] + private static extern IntPtr dllz_get_object_detection_parameters(int cameraID); + [DllImport(nameDll, EntryPoint = "sl_disable_objects_detection")] private static extern void dllz_disable_objects_detection(int cameraID); @@ -690,6 +734,12 @@ private static extern int dllz_get_objects_batch_data(int cameraID, int batch_in [DllImport(nameDll, EntryPoint = "sl_get_sdk_version")] private static extern IntPtr dllz_get_sdk_version(); + /* + * Change the coordinate system of a transform matrix. + */ + [DllImport(nameDll, EntryPoint = "sl_convert_coordinate_system")] + private static extern int dllz_convert_coordinate_system(ref Quaternion rotation, ref Vector3 translation, sl.COORDINATE_SYSTEM coordSystemSrc, sl.COORDINATE_SYSTEM coordSystemDest); + [DllImport(nameDll, EntryPoint = "sl_compute_offset")] private static extern void dllz_compute_offset(float[] A, float[] B, int nbVectors, float[] C); @@ -954,10 +1004,12 @@ public struct dll_initParameters /// public sl.DEPTH_MODE depthMode; /// - /// True to stabilize the depth map. Recommended. + /// This sets the depth stabilizer temporal smoothing strength. + /// the depth stabilize smooth range is [0, 100] + /// 0 means a low temporal smmoothing behavior(for highly dynamic scene), + /// 100 means a high temporal smoothing behavior(for static scene) /// - [MarshalAs(UnmanagedType.U1)] - public bool depthStabilization; + public float depthStabilization; /// /// Minimum distance from the camera from which depth will be computed, in the defined coordinateUnit. /// @@ -1161,6 +1213,33 @@ public ERROR_CODE EnableRecording(string videoFileName, SVO_COMPRESSION_MODE com return (ERROR_CODE)dllz_enable_recording(CameraID, new System.Text.StringBuilder(videoFileName, videoFileName.Length), (int)compressionMode,bitrate,target_fps,transcode); } + /// + /// Get the recording information + /// + /// + public sl.RecordingStatus GetRecordingStatus() + { + IntPtr p = dllz_get_recording_status(CameraID); + + if (p == IntPtr.Zero) + { + return new RecordingStatus(); + } + RecordingStatus parameters = (RecordingStatus)Marshal.PtrToStructure(p, typeof(RecordingStatus)); + + return parameters; + } + + /// + /// Pauses or resumes the recording. + /// + /// if true, the recording is paused. If false, the recording is resumed. + /// + public void PauseRecording(bool status) + { + dllz_pause_recording(CameraID, status); + } + /// /// Stops recording to an SVO/AVI, if applicable, and closes the file. /// @@ -1253,11 +1332,11 @@ public float GetDepthMaxRangeValue() /// (optional) file of spatial memory file that has to be loaded to relocate in the scene. /// public sl.ERROR_CODE EnableTracking(ref Quaternion quat, ref Vector3 vec, bool enableSpatialMemory = true, bool enablePoseSmoothing = false, bool enableFloorAlignment = false, bool trackingIsStatic = false, - bool enableIMUFusion = true, string areaFilePath = "") + bool enableIMUFusion = true, float depthMinRange = -1.0f, bool setGravityAsOrigin = true, string areaFilePath = "") { sl.ERROR_CODE trackingStatus = sl.ERROR_CODE.CAMERA_NOT_DETECTED; trackingStatus = (sl.ERROR_CODE)dllz_enable_tracking(CameraID, ref quat, ref vec, enableSpatialMemory, enablePoseSmoothing, enableFloorAlignment, - trackingIsStatic, enableIMUFusion, new System.Text.StringBuilder(areaFilePath, areaFilePath.Length)); + trackingIsStatic, enableIMUFusion, depthMinRange, setGravityAsOrigin, new System.Text.StringBuilder(areaFilePath, areaFilePath.Length)); return trackingStatus; } @@ -1299,11 +1378,6 @@ public void DisableTracking(string path = "") dllz_disable_tracking(CameraID, new System.Text.StringBuilder(path, path.Length)); } - public sl.ERROR_CODE SaveCurrentArea(string path) - { - return (sl.ERROR_CODE)dllz_save_current_area(CameraID, new System.Text.StringBuilder(path, path.Length)); - } - /// /// Returns the current state of the area learning saving /// @@ -1591,7 +1665,14 @@ public float GetCameraFPS() return dllz_get_camera_fps(CameraID); } - + /// + /// Reports if the camera has been successfully opened. + /// + /// Returns true if the ZED is already setup, otherwise false. + public bool IsOpened() + { + return dllz_is_opened(CameraID); + } public CalibrationParameters GetCalibrationParameters(bool raw = false) { @@ -1843,6 +1924,19 @@ public ERROR_CODE GetInternalSensorsData(ref SensorsData data, TIME_REFERENCE re return err; } + /// + /// Defines a region of interest to focus on for all the SDK, discarding other parts. + /// + /// the Mat defining the requested region of interest, all pixel set to 0 will be discard. If empty, set all pixels as valid, otherwise should fit the resolution of the current instance and its type should be U8_C1. + /// + public ERROR_CODE SetRegionOfInterest(sl.ZEDMat roiMask) + { + sl.ERROR_CODE err = sl.ERROR_CODE.FAILURE; + + err = (sl.ERROR_CODE)dllz_sl_set_region_of_interest(CameraID, roiMask.GetPtr()); + return err; + } + /// /// Converts a float array to a matrix. /// @@ -2003,6 +2097,38 @@ public static string GetSDKVersion() return PtrToStringUtf8(dllz_get_sdk_version()); } + + /// + /// Gets the version of the currently installed ZED SDK. + /// + /// ZED SDK version as a string in the format MAJOR.MINOR.PATCH. + public static void GetSDKVersion(ref int major, ref int minor, ref int patch) + { + string sdkVersion = PtrToStringUtf8(dllz_get_sdk_version()); + + string[] version = sdkVersion.Split('.'); + + if (version.Length == 3) + { + int.TryParse(version[0], out major); + int.TryParse(version[1], out minor); + int.TryParse(version[2], out patch); + } + } + + /// + /// Change the coordinate system of a transform matrix. + /// + /// [In, Out] : rotation to transform + /// [In, Out] : translation to transform + /// The current coordinate system of the translation/rotation + /// The destination coordinate system for the translation/rotation. + /// SUCCESS if everything went well, FAILURE otherwise. + public static sl.ERROR_CODE ConvertCoordinateSystem(ref Quaternion rotation, ref Vector3 translation, sl.COORDINATE_SYSTEM coordinateSystemSrc, sl.COORDINATE_SYSTEM coordinateSystemDest) + { + return (sl.ERROR_CODE)dllz_convert_coordinate_system(ref rotation, ref translation, coordinateSystemSrc, coordinateSystemDest); + } + /// /// List all the connected devices with their associated information. /// This function lists all the cameras available and provides their serial number, models and other information. @@ -2016,6 +2142,19 @@ public static sl.DeviceProperties[] GetDeviceList(out int nbDevices) return deviceList; } + /// + /// List all the connected devices with their associated information. + /// This function lists all the cameras available and provides their serial number, models and other information. + /// + /// The device properties for each connected camera + public static sl.StreamingProperties[] GetStreamingDeviceList(out int nbDevices) + { + sl.StreamingProperties[] streamingDeviceList = new sl.StreamingProperties[(int)Constant.MAX_CAMERA_PLUGIN]; + dllz_get_streaming_device_list(streamingDeviceList, out nbDevices); + + return streamingDeviceList; + } + /// /// Performs an hardware reset of the ZED 2/ZED 2i. /// @@ -2147,6 +2286,18 @@ public bool GetNormalValue(Vector3 pixel, out Vector4 normal) return r; } + + /// + /// Gets the current range of perceived depth. + /// + /// Minimum depth detected (in selected sl.UNIT) + /// Maximum depth detected (in selected sl.UNIT) + /// SUCCESS if values have been extracted. Other ERROR_CODE otherwise. + public sl.ERROR_CODE GetCurrentMixMaxDepth(ref float min, ref float max) + { + return (sl.ERROR_CODE)dllz_get_current_min_max_depth(CameraID, ref min, ref max); + } + /// /// Initializes and begins the spatial mapping processes. /// @@ -2175,6 +2326,15 @@ public void DisableSpatialMapping() } } + /// + /// Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame. + /// + /// true if the tracking module is enabled + public bool IsPositionalTrackingEnabled() + { + return dllz_is_positional_tracking_enabled(CameraID); + } + /// /// Updates the internal version of the mesh and returns the sizes of the meshes. /// @@ -2207,6 +2367,16 @@ public sl.ERROR_CODE RetrieveMesh(Vector3[] vertices, int[] triangles, int nbSub return (sl.ERROR_CODE)dllz_retrieve_mesh(CameraID, vertices, triangles, nbSubmeshMax, uvs, textures); } + /// + /// Saves the current area learning file. The file will contain spatial memory data generated by the tracking. + /// + /// + /// + public ERROR_CODE SaveAreaMap(string areaFilePath) + { + return (ERROR_CODE)dllz_save_area_map(CameraID, new System.Text.StringBuilder(areaFilePath, areaFilePath.Length)); + } + /// /// Updates the fused point cloud (if spatial map type was FUSED_POINT_CLOUD) /// @@ -2408,6 +2578,7 @@ public void MergeChunks(int numberFaces, int[] nbVerticesInSubmeshes, int[] nbTr return (sl.ERROR_CODE)(dllz_retrieve_image(CameraID, mat.MatPtr, (int)view, (int)mem, (int)resolution.width, (int)resolution.height)); } + /// /// Computes offsets of the optical centers used to line up the ZED's images properly with Unity cameras. /// Called in ZEDRenderingPlane after the ZED finished initializing. diff --git a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs index bc029819..9b5a67f1 100644 --- a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs +++ b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs @@ -85,12 +85,43 @@ public Resolution(uint width, uint height) [StructLayout(LayoutKind.Sequential)] public struct Pose { + /// + /// boolean that indicates if tracking is activated or not. You should check that first if something wrong. + /// public bool valid; - public ulong timestap; + /// + /// Timestamp of the pose. This timestamp should be compared with the camera timestamp for synchronization. + /// + public ulong timestamp; + /// + /// orientation from the pose. + /// public Quaternion rotation; + /// + /// translation from the pose. + /// public Vector3 translation; + /// + /// Confidence/Quality of the pose estimation for the target frame. + /// A confidence metric of the tracking[0 - 100], 0 means that the tracking is lost, 100 means that the tracking can be fully trusted. + /// public int pose_confidence; - }; + /// + /// 6x6 Pose covariance of translation (the first 3 values) and rotation in so3 (the last 3 values) + /// + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 36)] + public float[] pose_covariance; + /// + /// Twist of the camera available in reference camera, this expresses velocity in free space, broken into its linear and angular parts. + /// + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] + public float[] twist; + /// + /// Row-major representation of the 6x6 twist covariance matrix of the camera, this expresses the uncertainty of the twist. + /// + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 36)] + public float[] twist_covariance; + }; /// /// Rect structure to define a rectangle or a ROI in pixels @@ -138,6 +169,73 @@ public struct DeviceProperties public int sn; }; + /// + /// Streaming device properties + /// + [StructLayout(LayoutKind.Sequential)] + public struct StreamingProperties + { + /// + /// The streaming IP of the device + /// + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)] + public string ip; + /// + /// The streaming port + /// + public ushort port; + /// + /// The current bitrate of encoding of the streaming device + /// + public int currentBitrate; + /// + /// The current codec used for compression in streaming device + /// + public sl.STREAMING_CODEC codec; + }; + + /// + /// Container for information about the current SVO recording process. + /// + /// Mirrors RecordingStatus in the ZED C++ SDK. For more info, visit: + /// https://www.stereolabs.com/docs/api/structsl_1_1RecordingStatus.html + /// + [StructLayout(LayoutKind.Sequential)] + public struct RecordingStatus + { + /// + /// Recorder status, true if enabled. + /// + [MarshalAs(UnmanagedType.U1)] + public bool is_recording; + /// + /// Recorder status, true if the pause is enabled. + /// + [MarshalAs(UnmanagedType.U1)] + public bool is_paused; + /// + /// Status of the current frame. True if recording was successful, false if frame could not be written. + /// + [MarshalAs(UnmanagedType.U1)] + public bool status; + /// + /// Compression time for the current frame in milliseconds. + /// + public double current_compression_time; + /// + /// Compression ratio (% of raw size) for the current frame. + /// + public double current_compression_ratio; + /// + /// Average compression time in millisecond since beginning of recording. + /// + public double average_compression_time; + /// + /// Compression ratio (% of raw size) since recording was started. + /// + public double average_compression_ratio; + } + /// /// Full IMU data structure. /// @@ -1175,7 +1273,7 @@ public enum REFERENCE_FRAME public enum TRACKING_STATE { /// - /// Tracking is searching for a match from the database to relocate to a previously known position. + /// The camera is searching for a previously known position to locate itself. /// TRACKING_SEARCH, /// @@ -1187,9 +1285,13 @@ public enum TRACKING_STATE /// TRACKING_OFF, /// - /// This is the last searching state of the track, the track will be deleted in the next retreiveObject + /// Effective FPS is too low to give proper results for motion tracking. Consider using PERFORMANCES parameters (DEPTH_MODE_PERFORMANCE, low camera resolution (VGA,HD720)) /// - TRACKING_TERMINATE + TRACKING_FPS_TOO_LOW, + /// + /// The camera is searching for the floor plane to locate itself related to it, the REFERENCE_FRAME::WORLD will be set afterward. + /// + TRACKING_SEARCHING_FLOOR_PLANE } /// @@ -1429,9 +1531,12 @@ public class InitParameters /// public string sdkVerboseLogFile = ""; /// - /// True to stabilize the depth map. Recommended. + /// This sets the depth stabilizer temporal smoothing strength. + /// the depth stabilize smooth range is [0, 100] + /// 0 means a low temporal smmoothing behavior(for highly dynamic scene), + /// 100 means a high temporal smoothing behavior(for static scene) /// - public bool depthStabilization; + public float depthStabilization; /// /// Optional path for searching configuration (calibration) file SNxxxx.conf. (introduced in ZED SDK 2.6) /// @@ -1489,7 +1594,7 @@ public InitParameters() this.sdkGPUId = -1; this.sdkVerboseLogFile = ""; this.enableRightSideMeasure = false; - this.depthStabilization = true; + this.depthStabilization = -1.0f; this.optionalSettingsPath = ""; this.sensorsRequired = false; this.ipStream = ""; @@ -1748,6 +1853,15 @@ public struct dll_ObjectDetectionParameters \brief Defines the filtering mode that should be applied to raw detections. */ public OBJECT_FILTERING_MODE filteringMode; + /// + /// When an object is not detected anymore, the SDK will predict its positions during a short period of time before switching its state to SEARCHING. + /// It prevents the jittering of the object state when there is a short misdetection.The user can define its own prediction time duration. + /// During this time, the object will have OK state even if it is not detected. + /// The duration is expressed in seconds. + /// The prediction_timeout_s will be clamped to 1 second as the prediction is getting worst with time. + /// Set this parameter to 0 to disable SDK predictions. + /// + public float predictionTimeout_s; }; @@ -1772,6 +1886,12 @@ public struct dll_ObjectDetectionRuntimeParameters /// [MarshalAs(UnmanagedType.ByValArray, SizeConst = (int)sl.OBJECT_CLASS.LAST)] public int[] object_confidence_threshold; + /// + /// Defines the minimum keypoints threshold. + /// the SDK will outputs skeletons with more keypoints than this threshold + /// it is useful for example to remove unstable fitting results when a skeleton is partially occluded + /// + public int minimumKeypointsThreshold; }; /// @@ -1833,7 +1953,10 @@ public struct ObjectDataSDK public Vector3 rootWorldPosition; //object root position public Vector3 headWorldPosition; //object head position (only for HUMAN detectionModel) public Vector3 rootWorldVelocity; //object root velocity - + /// + /// 3D object dimensions: width, height, length. Defined in InitParameters.UNIT, expressed in RuntimeParameters.measure3DReferenceFrame. + /// + public Vector3 dimensions; /// /// The 3D space bounding box. given as array of vertices @@ -2070,6 +2193,10 @@ public enum DETECTION_MODEL { /// PERSON_HEAD_BOX, /// + /// Bounding Box detector specialized in person heads, particulary well suited for crowded environement, the person localization is also improved + /// + PERSON_HEAD_BOX_ACCURATE, + /// /// For external inference, using your own custom model and/or frameworks. This mode disable the internal inference engine, the 2D bounding box detection must be provided /// CUSTOM_BOX_OBJECTS, @@ -2127,6 +2254,10 @@ public enum AI_MODELS /// PERSON_HEAD_DETECTION, /// + /// related to sl.DETECTION_MODEL.PERSON_HEAD + /// + PERSON_HEAD_ACCURATE_DETECTION, + /// /// related to sl.BatchParameters.enable /// REID_ASSOCIATION, // related to @@ -2163,6 +2294,48 @@ public enum BODY_PARTS { LAST = 18 }; + /// + /// ssemantic of human body parts and order keypoints for BODY_FORMAT.POSE_34. + /// + public enum BODY_PARTS_POSE_34 + { + PELVIS = 0, + NAVAL_SPINE = 1, + CHEST_SPINE = 2, + NECK = 3, + LEFT_CLAVICLE = 4, + LEFT_SHOULDER = 5, + LEFT_ELBOW = 6, + LEFT_WRIST = 7, + LEFT_HAND = 8, + LEFT_HANDTIP = 9, + LEFT_THUMB = 10, + RIGHT_CLAVICLE = 11, + RIGHT_SHOULDER = 12, + RIGHT_ELBOW = 13, + RIGHT_WRIST = 14, + RIGHT_HAND = 15, + RIGHT_HANDTIP = 16, + RIGHT_THUMB = 17, + LEFT_HIP = 18, + LEFT_KNEE = 19, + LEFT_ANKLE = 20, + LEFT_FOOT = 21, + RIGHT_HIP = 22, + RIGHT_KNEE = 23, + RIGHT_ANKLE = 24, + RIGHT_FOOT = 25, + HEAD = 26, + NOSE = 27, + LEFT_EYE = 28, + LEFT_EAR = 29, + RIGHT_EYE = 30, + RIGHT_EAR = 31, + LEFT_HEEL = 32, + RIGHT_HEEL = 33, + LAST = 34 + }; + /// /// Contains batched data of a detected object /// @@ -2190,7 +2363,7 @@ public class ObjectsBatch /// /// Defines the object tracking state /// - public TRACKING_STATE trackingState = TRACKING_STATE.TRACKING_TERMINATE; + public TRACKING_STATE trackingState = TRACKING_STATE.TRACKING_OFF; /// /// A sample of 3d position /// diff --git a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDMat.cs b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDMat.cs index f5aafd5f..ab6b0910 100644 --- a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDMat.cs +++ b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDMat.cs @@ -129,7 +129,11 @@ public enum MAT_TYPE /// /// Unsigned short 1 channel. /// - MAT_16U_C1 + MAT_16U_C1, + /// + /// signed char 4 channels. + /// + MAT_S8_C4 }; /// diff --git a/ZEDCamera/Assets/ZED/SDK/Plugins/linux/libsl_unitywrapper.so b/ZEDCamera/Assets/ZED/SDK/Plugins/linux/libsl_unitywrapper.so index 737a56d3..d9ef26af 100755 Binary files a/ZEDCamera/Assets/ZED/SDK/Plugins/linux/libsl_unitywrapper.so and b/ZEDCamera/Assets/ZED/SDK/Plugins/linux/libsl_unitywrapper.so differ diff --git a/ZEDCamera/Assets/ZED/SDK/Plugins/win64/sl_unitywrapper.dll b/ZEDCamera/Assets/ZED/SDK/Plugins/win64/sl_unitywrapper.dll index 310d7781..f6a2d251 100644 Binary files a/ZEDCamera/Assets/ZED/SDK/Plugins/win64/sl_unitywrapper.dll and b/ZEDCamera/Assets/ZED/SDK/Plugins/win64/sl_unitywrapper.dll differ