diff --git a/ZEDCamera/Assets/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat b/ZEDCamera/Assets/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat index 548fbb97..8560cc9d 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat +++ b/ZEDCamera/Assets/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat @@ -9,6 +9,8 @@ Material: m_PrefabAsset: {fileID: 0} m_Name: Mat_ZED_PointCloud m_Shader: {fileID: 4800000, guid: e559735f38c1ab04bb202a47093cfd4f, type: 3} + m_Parent: {fileID: 0} + m_ModifiedSerializedProperties: 0 m_ValidKeywords: [] m_InvalidKeywords: - _EMISSION @@ -18,6 +20,7 @@ Material: m_CustomRenderQueue: -1 stringTagMap: {} disabledShaderPasses: [] + m_LockedProperties: m_SavedProperties: serializedVersion: 3 m_TexEnvs: diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs index d82d16c0..a90267c3 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs @@ -1,5 +1,6 @@ //======= Copyright (c) Stereolabs Corporation, All rights reserved. =============== +using System.Threading; using UnityEngine; /// @@ -82,22 +83,23 @@ void Start() } if (zedManager != null) + { zed = zedManager.zedCamera; - if (_pointMaterial == null) - { - _pointMaterial = new Material(Resources.Load("Materials/PointCloud/Mat_ZED_FusedPC_Point") as Material); - } + if (_pointMaterial == null) + { + _pointMaterial = new Material(Resources.Load("Materials/PointCloud/Mat_ZED_FusedPC_Point") as Material); + } - if (_diskMaterial == null) - { - _diskMaterial = new Material(Resources.Load("Materials/PointCloud/Mat_ZED_FusedPC_Disk") as Material); - } - - _diskMaterial.hideFlags = HideFlags.DontSave; - _pointMaterial.hideFlags = HideFlags.DontSave; - zedManager.OnGrab += startMap; + if (_diskMaterial == null) + { + _diskMaterial = new Material(Resources.Load("Materials/PointCloud/Mat_ZED_FusedPC_Disk") as Material); + } + _diskMaterial.hideFlags = HideFlags.DontSave; + _pointMaterial.hideFlags = HideFlags.DontSave; + zedManager.OnGrab += startMap; + } } /// @@ -107,9 +109,13 @@ private void startMap() { if (zed != null && notStarted) { - zed.EnableSpatialMapping(sl.SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD, resolution, range); - notStarted = false; - canUpdate = true; + sl.ERROR_CODE err = zed.EnableSpatialMapping(sl.SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD, resolution, range); + + if (err == sl.ERROR_CODE.SUCCESS) + { + notStarted = false; + canUpdate = true; + } } } @@ -139,7 +145,7 @@ void OnDestroy() /// void Update() { - if (zed.IsCameraReady && canUpdate) //Don't do anything unless the ZED has been initialized. + if (zed != null && zed.IsCameraReady && canUpdate) //Don't do anything unless the ZED has been initialized. { updateTime += Time.deltaTime; if (updateTime >= 1) @@ -148,6 +154,10 @@ void Update() updateTime = 0; } } + else + { + Thread.Sleep(1); + } } /// diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs index 2345a28e..6c0121c7 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs @@ -635,6 +635,8 @@ public enum shaderType private sl.ObjectDetectionRuntimeParameters objectDetectionRuntimeParameters = new sl.ObjectDetectionRuntimeParameters(); + public sl.CustomObjectDetectionRuntimeParameters customObjectDetectionRuntimeParameters = new sl.CustomObjectDetectionRuntimeParameters(); + [HideInInspector] public List customObjects = new List(); @@ -3236,7 +3238,18 @@ private void RetrieveObjectDetectionFrame() { sl.Objects objsbuffer = new sl.Objects(); - sl.ERROR_CODE res = zedCamera.RetrieveObjects(ref objectDetectionRuntimeParameters, ref objsbuffer, objectDetectionInstanceID); + sl.ERROR_CODE res = sl.ERROR_CODE.FAILURE; + + if (objectDetectionModel == sl.OBJECT_DETECTION_MODEL.CUSTOM_BOX_OBJECTS) + { + customObjectDetectionRuntimeParameters.objectClassDetectionProperties = new List(); + customObjectDetectionRuntimeParameters.objectDetectionProperties = new CustomObjectDetectionProperties(); + res = zedCamera.RetrieveObjects(ref customObjectDetectionRuntimeParameters, ref objsbuffer, objectDetectionInstanceID); + } + else + { + res = zedCamera.RetrieveObjects(ref objectDetectionRuntimeParameters, ref objsbuffer, objectDetectionInstanceID); + } if (res == sl.ERROR_CODE.SUCCESS && objsbuffer.isNew != 0) { diff --git a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs index 4e60e702..58c41c8e 100644 --- a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs +++ b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs @@ -285,7 +285,7 @@ public int TagInvisibleToZED /// /// Current Plugin Version. /// - public static readonly System.Version PluginVersion = new System.Version(4, 1, 0); + public static readonly System.Version PluginVersion = new System.Version(4, 2, 0); /******** DLL members ***********/ [DllImport(nameDll, EntryPoint = "GetRenderEventFunc")] @@ -735,6 +735,9 @@ private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat [DllImport(nameDll, EntryPoint = "sl_retrieve_objects")] private static extern int dllz_retrieve_objects_data(int cameraID, ref ObjectDetectionRuntimeParameters od_params, ref Objects objs, uint instanceID); + [DllImport(nameDll, EntryPoint = "sl_retrieve_custom_objects")] + private static extern int dllz_retrieve_custom_objects(int cameraID, ref dll_customObjectDetectionRuntimeParameters od_params, ref Objects objs, uint instanceID); + [DllImport(nameDll, EntryPoint = "sl_enable_body_tracking")] private static extern int dllz_enable_body_tracking(int cameraID, ref BodyTrackingParameters bt_params); @@ -2436,6 +2439,22 @@ public float GetDepthValue(Vector3 pixel) return d; } + /// + /// Gets the current depth value of a pixel in the UNITS specified when the camera was started with Init(). + /// The pixel's coordinates of the ZED Image as a Vector2. + /// Depth value as a float. + /// + public float GetDepthValue(Vector2 pixel) + { + if (!cameraReady) + { + return -1; + } + + float d = dllz_get_depth_value(CameraID, (uint)pixel.x, (uint)pixel.y); + return d; + } + /// /// Gets the current Euclidean distance (sqrt(x²+y²+z²)) of the targeted pixel of the screen to the camera. /// May result in errors if the ZED image does not fill the whole screen. @@ -3104,13 +3123,157 @@ public sl.ERROR_CODE IngestCustomBoxObjects(List objects_in /// Retrieve object detection data /// /// Object detection runtime parameters - /// ObjectsFrameSDK that contains all the detection data + /// Objects that contains all the detection data + /// Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time. /// public sl.ERROR_CODE RetrieveObjects(ref ObjectDetectionRuntimeParameters od_params, ref Objects objFrame, uint instanceID = 0) { return (sl.ERROR_CODE)dllz_retrieve_objects_data(CameraID, ref od_params, ref objFrame, instanceID); } + [StructLayout(LayoutKind.Sequential)] + public struct dll_customObjectDetectionProperties + { + /// + /// Index of the class represented by this set of properties. + /// + public int classID; + + /// + /// Whether the object object is kept or not. + /// + [MarshalAs(UnmanagedType.U1)] + public bool enabled; + /// + /// Confidence threshold. + /// From 1 to 100, with 1 meaning a low threshold, more uncertain objects and 99 very few but very precise objects. + /// If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instance is tracked. + /// Default: 20.f + /// + public float detectionConfidenceThreshold; + + /// + /// Provide hypothesis about the object movements(degrees of freedom or DoF) to improve the object tracking. + /// - true: 2 DoF projected alongside the floor plane. Case for object standing on the ground such as person, vehicle, etc. + /// The projection implies that the objects cannot be superposed on multiple horizontal levels. + /// - false: 6 DoF (full 3D movements are allowed). + /// This parameter cannot be changed for a given object tracking id. + /// It is advised to set it by labels to avoid issues. + /// + [MarshalAs(UnmanagedType.U1)] + public bool isGrounded; + + /// + /// Provide hypothesis about the object staticity to improve the object tracking. + /// - true: the object will be assumed to never move nor being moved. + /// - false: the object will be assumed to be able to move or being moved. + /// + [MarshalAs(UnmanagedType.U1)] + public bool isStatic; + + /// + /// Maximum tracking time threshold (in seconds) before dropping the tracked object when unseen for this amount of time. + /// By default, let the tracker decide internally based on the internal sub class of the tracked object. + /// Only valid for static object. + /// + public float trackingTimeout; + + /// + /// Maximum tracking distance threshold (in meters) before dropping the tracked object when unseen for this amount of meters. + /// By default, do not discard tracked object based on distance. + /// Only valid for static object. + /// + public float trackingMaxDist; + + /// + /// Maximum allowed width normalized to the image size. + /// Any prediction bigger than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float maxBoxWidthNormalized; + + /// + /// Minimum allowed width normalized to the image size. + /// Any prediction smaller than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float minBoxWidthNormalized; + + /// + /// Maximum allowed height normalized to the image size. + /// Any prediction bigger than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float maxBoxHeightNormalized; + + /// + /// Minimum allowed Height normalized to the image size. + /// Any prediction smaller than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float minBoxHeightNormalized; + + public dll_customObjectDetectionProperties(CustomObjectDetectionProperties customObjectDetectionProperties) + { + classID = customObjectDetectionProperties.classID; + enabled = customObjectDetectionProperties.enabled; + detectionConfidenceThreshold = customObjectDetectionProperties.detectionConfidenceThreshold; + isGrounded = customObjectDetectionProperties.isGrounded; + isStatic = customObjectDetectionProperties.isStatic; + trackingTimeout = customObjectDetectionProperties.trackingTimeout; + trackingMaxDist = customObjectDetectionProperties.trackingMaxDist; + maxBoxWidthNormalized = customObjectDetectionProperties.maxBoxWidthNormalized; + minBoxWidthNormalized = customObjectDetectionProperties.minBoxWidthNormalized; + maxBoxHeightNormalized = customObjectDetectionProperties.maxBoxHeightNormalized; + minBoxHeightNormalized = customObjectDetectionProperties.minBoxHeightNormalized; + } + }; + + /// + /// DLL-friendly version of CustomObjectDetectionRuntimeParameters (found in ZEDCommon.cs). + /// + [StructLayout(LayoutKind.Sequential)] + struct dll_customObjectDetectionRuntimeParameters + { + /// + /// Global object detection properties. + /// objectDetectionProperties is used as a fallback when CustomObjectDetectionRuntimeParameters.objectClassDetectionProperties is partially set. + /// + public dll_customObjectDetectionProperties objectDetectionProperties; + + /// + /// Per class object detection properties. + /// + public IntPtr objectClassDetectionProperties; + + /// + /// Size of the \ref objectClassDetectionProperties array. + /// + public uint numberCustomDetectionProperties; + + public dll_customObjectDetectionRuntimeParameters(CustomObjectDetectionRuntimeParameters customObjectDetectionRuntimeParameters) + { + objectDetectionProperties = new dll_customObjectDetectionProperties(customObjectDetectionRuntimeParameters.objectDetectionProperties); + numberCustomDetectionProperties = (uint)customObjectDetectionRuntimeParameters.objectClassDetectionProperties.Count; + objectClassDetectionProperties = Marshal.AllocHGlobal(customObjectDetectionRuntimeParameters.objectClassDetectionProperties.Count * Marshal.SizeOf(typeof(dll_customObjectDetectionProperties))); + } + }; + + /// + /// Retrieve object detection data from custom object detection + /// + /// Custim object detection runtime parameters + /// Objects that contains all the detection data + /// Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time. + /// + public sl.ERROR_CODE RetrieveObjects(ref CustomObjectDetectionRuntimeParameters objectDetectionRuntimeParameters, ref Objects objFrame, uint instanceID = 0) + { + dll_customObjectDetectionRuntimeParameters dll_CustomObjectDetectionRuntime = new dll_customObjectDetectionRuntimeParameters(objectDetectionRuntimeParameters); + var e = (sl.ERROR_CODE)dllz_retrieve_custom_objects(CameraID, ref dll_CustomObjectDetectionRuntime, ref objFrame, instanceID); + Marshal.FreeHGlobal(dll_CustomObjectDetectionRuntime.objectClassDetectionProperties); + return e; + } + /// /// Update the batch trajectories and retrieve the number of batches. /// @@ -3209,6 +3372,7 @@ public void DisableBodyTracking(uint bodyTrackingInstanceID = 1) /// /// Body Tracking runtime parameters /// Bodies that contains all the detection data + /// Id of the object detection instance. Used when multiple instances of the object detection module are enabled at the same time. /// public sl.ERROR_CODE RetrieveBodies(ref BodyTrackingRuntimeParameters bt_params, ref Bodies bodies, uint instanceID = 0) { diff --git a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs index b2d22b27..e1d2c78a 100644 --- a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs +++ b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs @@ -2240,6 +2240,128 @@ public struct ObjectDetectionRuntimeParameters public int[] objectConfidenceThreshold; }; + /// + /// Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model. + /// The default constructor sets all parameters to their default settings. + /// Parameters can be adjusted by the user. + /// + public class CustomObjectDetectionProperties + { + /// + /// Index of the class represented by this set of properties. + /// + public int classID = -1; + + /// + /// Whether the object object is kept or not. + /// + public bool enabled = true; + /// + /// Confidence threshold. + /// From 1 to 100, with 1 meaning a low threshold, more uncertain objects and 99 very few but very precise objects. + /// If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instance is tracked. + /// Default: 20.f + /// + public float detectionConfidenceThreshold = 20.0f; + + /// + /// Provide hypothesis about the object movements(degrees of freedom or DoF) to improve the object tracking. + /// - true: 2 DoF projected alongside the floor plane. Case for object standing on the ground such as person, vehicle, etc. + /// The projection implies that the objects cannot be superposed on multiple horizontal levels. + /// - false: 6 DoF (full 3D movements are allowed). + /// This parameter cannot be changed for a given object tracking id. + /// It is advised to set it by labels to avoid issues. + /// + public bool isGrounded = true; + + /// + /// Provide hypothesis about the object staticity to improve the object tracking. + /// - true: the object will be assumed to never move nor being moved. + /// - false: the object will be assumed to be able to move or being moved. + /// + public bool isStatic = false; + + /// + /// Maximum tracking time threshold (in seconds) before dropping the tracked object when unseen for this amount of time. + /// By default, let the tracker decide internally based on the internal sub class of the tracked object. + /// Only valid for static object. + /// + public float trackingTimeout = -1.0f; + + /// + /// Maximum tracking distance threshold (in meters) before dropping the tracked object when unseen for this amount of meters. + /// By default, do not discard tracked object based on distance. + /// Only valid for static object. + /// + public float trackingMaxDist = -1.0f; + + /// + /// Maximum allowed width normalized to the image size. + /// Any prediction bigger than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float maxBoxWidthNormalized = -1.0f; + + /// + /// Minimum allowed width normalized to the image size. + /// Any prediction smaller than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float minBoxWidthNormalized = -1.0f; + + /// + /// Maximum allowed height normalized to the image size. + /// Any prediction bigger than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float maxBoxHeightNormalized = -1.0f; + + /// + /// Minimum allowed Height normalized to the image size. + /// Any prediction smaller than that will be filtered out. + /// Default: -1 (no filtering) + /// + public float minBoxHeightNormalized = -1.0f; + + public CustomObjectDetectionProperties() + { + this.classID = -1; + this.enabled = true; + this.detectionConfidenceThreshold = 20.0f; + this.isGrounded = true; + this.isStatic = true; + this.trackingTimeout = -1.0f; + this.trackingMaxDist = -1.0f; + this.maxBoxHeightNormalized = -1.0f; + this.minBoxHeightNormalized = -1.0f; + this.maxBoxWidthNormalized = -1.0f; + this.minBoxWidthNormalized = -1.0f; + } + }; + + /// + /// Structure containing a set of runtime parameters for the object detection module using your own model ran by the SDK. + /// + public struct CustomObjectDetectionRuntimeParameters + { + /// + /// Global object detection properties. + /// objectDetectionProperties is used as a fallback when CustomObjectDetectionRuntimeParameters.objectClassDetectionProperties is partially set. + /// + public CustomObjectDetectionProperties objectDetectionProperties; + + /// + /// Per class object detection properties. + /// + public List objectClassDetectionProperties; + + public CustomObjectDetectionRuntimeParameters(CustomObjectDetectionProperties customObjectDetectionProperties, List customObjectClassDetectionProperties) + { + objectDetectionProperties = customObjectDetectionProperties; + objectClassDetectionProperties = customObjectClassDetectionProperties; + } + }; + /// /// Lists of supported skeleton body model /// diff --git a/ZEDCamera/Assets/SDK/Plugins/win64/sl_unitywrapper.dll b/ZEDCamera/Assets/SDK/Plugins/win64/sl_unitywrapper.dll index 336994fe..c5cb79f8 100644 Binary files a/ZEDCamera/Assets/SDK/Plugins/win64/sl_unitywrapper.dll and b/ZEDCamera/Assets/SDK/Plugins/win64/sl_unitywrapper.dll differ diff --git a/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity b/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity index 0def6a23..75cd4c21 100644 --- a/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity +++ b/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity @@ -341,7 +341,7 @@ PrefabInstance: objectReference: {fileID: 0} - 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m_AreaLightShape: 0 --- !u!1 &1609167223 GameObject: m_ObjectHideFlags: 0 @@ -582,7 +472,7 @@ MonoBehaviour: m_EditorClassIdentifier: zedManager: {fileID: 56380649} detectionMode: 0 - startAIModuleAutomatically: 0 + startAIModuleAutomatically: 1 boundingBoxPrefab: {fileID: 1438017172825460, guid: 2d803190bc4738d4daf5932468a5495e, type: 3} boxColors: - {r: 0.23137257, g: 0.909804, b: 0.6901961, a: 1} diff --git a/ZEDCamera/Assets/Samples~/Object Detection/Scripts/ZEDCustomObjDetection.cs b/ZEDCamera/Assets/Samples~/Object Detection/Scripts/ZEDCustomObjDetection.cs index 07e4fc3c..b1802e7c 100644 --- a/ZEDCamera/Assets/Samples~/Object Detection/Scripts/ZEDCustomObjDetection.cs +++ b/ZEDCamera/Assets/Samples~/Object Detection/Scripts/ZEDCustomObjDetection.cs @@ -4,6 +4,7 @@ using System.Collections.Generic; using UnityEngine; +using OpenCVForUnity.UnityUtils; using OpenCVForUnity.CoreModule; using OpenCVForUnity.DnnModule; using OpenCVForUnity.ImgprocModule; @@ -17,6 +18,11 @@ /// public class ZEDCustomObjDetection : MonoBehaviour { + [TooltipAttribute("Custom object runtime parameters.")] + public CustomObjectDetectionProperties objectDetectionProperties; + + [TooltipAttribute("Custom object runtime parameters.")] + public List objectClassDetectionProperties; [TooltipAttribute("Path to a binary file of model contains trained weights. It could be a file with extensions .caffemodel (Caffe), .pb (TensorFlow), .t7 or .net (Torch), .weights (Darknet).")] public string model; @@ -36,6 +42,8 @@ public class ZEDCustomObjDetection : MonoBehaviour [TooltipAttribute("Non-maximum suppression threshold.")] public float nmsThreshold = 0.4f; + private sl.CustomObjectDetectionRuntimeParameters customObjectDetectionRuntime = new CustomObjectDetectionRuntimeParameters(); + private List classNames; private List outBlobNames; private List outBlobTypes; @@ -99,14 +107,16 @@ public void OnValidate() classNames = classesFilter; } else - classNames = readClassNames(classes); + classNames = ReadClassNames(classes); } public void Init() { + Utils.setDebugMode(true); + if (!string.IsNullOrEmpty(classes)) { - classNames = readClassNames(classes); + classNames = ReadClassNames(classes); if (classNames == null) { Debug.LogError("Classes file is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); @@ -121,7 +131,7 @@ public void Init() { Debug.LogError("Model file is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); } - else if (string.IsNullOrEmpty(config)) + else if (false && string.IsNullOrEmpty(config)) { Debug.LogError("Config file is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); } @@ -130,16 +140,19 @@ public void Init() net = Dnn.readNet(model, config); if (net == null) Debug.LogWarning("network is null"); - outBlobNames = getOutputsNames(net); + outBlobNames = GetOutputsNames(net); - outBlobTypes = getOutputsTypes(net); + outBlobTypes = GetOutputsTypes(net); } } public void Run(Camera cam, Mat camera_matrix, Mat rgbaMat) { if (!zedManager.IsObjectDetectionRunning) return; - + + customObjectDetectionRuntime.objectDetectionProperties = objectDetectionProperties; + customObjectDetectionRuntime.objectClassDetectionProperties = objectClassDetectionProperties; + Mat bgrMat = new Mat(rgbaMat.rows(), rgbaMat.cols(), CvType.CV_8UC3); Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR); @@ -160,7 +173,7 @@ public void Run(Camera cam, Mat camera_matrix, Mat rgbaMat) //tm.stop(); //Debug.Log("Inference time, ms: " + tm.getTimeMilli()); - postprocess(rgbaMat, outs, net, Dnn.DNN_BACKEND_OPENCV); + Postprocess(rgbaMat, outs, net, Dnn.DNN_BACKEND_OPENCV); for (int i = 0; i < outs.Count; i++) { @@ -176,7 +189,7 @@ public void Run(Camera cam, Mat camera_matrix, Mat rgbaMat) /// Outs. /// Net. /// Backend. - protected virtual void postprocess(Mat frame, List outs, Net net, int backend = Dnn.DNN_BACKEND_OPENCV) + protected virtual void Postprocess(Mat frame, List outs, Net net, int backend = Dnn.DNN_BACKEND_OPENCV) { MatOfInt outLayers = net.getUnconnectedOutLayers(); string outLayerType = outBlobTypes[0]; @@ -272,11 +285,12 @@ protected virtual void postprocess(Mat frame, List outs, Net net, int backe } - ingestCustomData(boxesList, confidencesList, classIdsList); + IngestCustomData(boxesList, confidencesList, classIdsList); } - private void ingestCustomData(List boxesList, List confidencesList, List classIdsList) + private void IngestCustomData(List boxesList, List confidencesList, List classIdsList) { + Debug.Log("Box list count: " + boxesList.Count); List objects_in = new List(); for (int idx = 0; idx < boxesList.Count; ++idx) { @@ -303,7 +317,7 @@ private void ingestCustomData(List boxesList, List confidencesLis } zedManager.customObjects.Clear(); zedManager.customObjects.AddRange(objects_in); - + zedManager.customObjectDetectionRuntimeParameters = customObjectDetectionRuntime; /* if (OnIngestCustomOD != null) OnIngestCustomOD();*/ } @@ -313,7 +327,7 @@ private void ingestCustomData(List boxesList, List confidencesLis /// /// The class names. /// Filename. - private List readClassNames(string filename) + private List ReadClassNames(string filename) { List classNames = new List(); @@ -347,7 +361,7 @@ private List readClassNames(string filename) /// /// The outputs names. /// Net. - protected List getOutputsNames(Net net) + protected List GetOutputsNames(Net net) { List names = new List(); @@ -366,7 +380,7 @@ protected List getOutputsNames(Net net) /// /// The outputs types. /// Net. - protected virtual List getOutputsTypes(Net net) + protected virtual List GetOutputsTypes(Net net) { List types = new List(); diff --git a/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity b/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity index 70cc8530..363d2359 100644 --- a/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity +++ b/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity @@ -176,7 +176,7 @@ PrefabInstance: objectReference: {fileID: 0} - 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