Merge pull request #159 from stereolabs/pull_request_3.4

Pull request 3.4
stereolabs · Jan 27, 2021 · f8183c6 · f8183c6
2 parents 9ffdc03 + 26946a9
commit f8183c6
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Showing 19 changed files with 303 additions and 247 deletions.
diff --git a/ZEDCamera/Assets/ZED/Editor/Scripts/ZEDCameraEditor.cs b/ZEDCamera/Assets/ZED/Editor/Scripts/ZEDCameraEditor.cs
@@ -113,6 +113,7 @@ public class ZEDCameraEditor : Editor
     private SerializedProperty OD_BodyFitting;
     private SerializedProperty OD_2DMask;
     private SerializedProperty OD_DetectionModel;
+    private SerializedProperty OD_MaxRange;
     //Object Detection Runtime Prop
     private SerializedProperty OD_VehicleDetectionConfidence;
     private SerializedProperty OD_PersonDetectionConfidence;
@@ -141,7 +142,7 @@ public class ZEDCameraEditor : Editor
     SerializedProperty textureConfidenceThresholdProperty;
     SerializedProperty enableSelfCalibrationProperty;
     SerializedProperty enableIMUFusionProperty;
-
+    SerializedProperty opencvCalibFilePath;
 
     // Rendering Prop
     private int arlayer;
@@ -258,7 +259,8 @@ private void OnEnable()
         OD_ObjectTracking = serializedObject.FindProperty("objectDetectionTracking");
         OD_BodyFitting = serializedObject.FindProperty("bodyFitting");
         OD_2DMask = serializedObject.FindProperty("objectDetection2DMask");
-        OD_DetectionModel = serializedObject.FindProperty("objectDetectionModel"); 
+        OD_DetectionModel = serializedObject.FindProperty("objectDetectionModel");
+        OD_MaxRange = serializedObject.FindProperty("maxRange");
 
         OD_PersonDetectionConfidence = serializedObject.FindProperty("OD_personDetectionConfidenceThreshold");
         SK_PersonDetectionConfidence = serializedObject.FindProperty("SK_personDetectionConfidenceThreshold");
@@ -310,6 +312,7 @@ private void OnEnable()
         allowPassThroughProperty = serializedObject.FindProperty("allowARPassThrough");
         setIMUPrior = serializedObject.FindProperty("setIMUPriorInAR");
         enableImageEnhancementProperty = serializedObject.FindProperty("enableImageEnhancement");
+        opencvCalibFilePath = serializedObject.FindProperty("opencvCalibFile");
 
         //Video Settings Serialized Properties
         videoSettingsInitModeProperty = serializedObject.FindProperty("videoSettingsInitMode");
@@ -770,6 +773,10 @@ public override void OnInspectorGUI()
                 OD_BodyFitting.boolValue = EditorGUILayout.Toggle(BodyFittingLabel, OD_BodyFitting.boolValue);
             }
 
+            GUIContent maxRangeLabel = new GUIContent("Max Range", "Defines a upper depth range for detections." +
+            "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_MaxRange.floatValue = EditorGUILayout.Slider(maxRangeLabel, OD_MaxRange.floatValue, 0, 40.0f);
+
             GUI.enabled = true;
 
             EditorGUI.indentLevel--;
@@ -1137,6 +1144,8 @@ 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);
 
+            GUIContent openCalibPathlabel = new GUIContent("Opencv Calibration File ", "Optional, Set an optional file path where the SDK can find a file containing the calibration information of the camera computed by OpenCV. ");
+            opencvCalibFilePath.stringValue = EditorGUILayout.TextField(openCalibPathlabel, opencvCalibFilePath.stringValue);
 
             EditorGUI.EndDisabledGroup();
             EditorGUI.indentLevel--;

diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/2D Object Detection.unity b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/2D Object Detection.unity
@@ -560,7 +560,7 @@ PrefabInstance:
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         type: 3}
       propertyPath: depthMode
-      value: 3
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
         type: 3}
@@ -625,7 +625,7 @@ PrefabInstance:
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
         type: 3}
       propertyPath: objectDetectionModel
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
         type: 3}
@@ -667,6 +667,11 @@ PrefabInstance:
       propertyPath: recordingFoldoutOpen
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
+        type: 3}
+      propertyPath: streamInputPort
+      value: 30000
+      objectReference: {fileID: 0}
     m_RemovedComponents:
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   m_SourcePrefab: {fileID: 100100000, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}

diff --git a/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scripts/Core/ZEDToOpenCVRetriever.cs b/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scripts/Core/ZEDToOpenCVRetriever.cs
@@ -265,6 +265,8 @@ private static int SLMatType2CVMatType(ZEDMat.MAT_TYPE zedmattype)
                 return CvType.CV_8UC3;
             case ZEDMat.MAT_TYPE.MAT_8U_C4:
                 return CvType.CV_8UC4;
+            case ZEDMat.MAT_TYPE.MAT_16U_C1:
+                return CvType.CV_16UC1;
             default:
                 return -1;
         }

diff --git a/ZEDCamera/Assets/ZED/Examples/Planetarium/Scene/Planetarium.unity b/ZEDCamera/Assets/ZED/Examples/Planetarium/Scene/Planetarium.unity
@@ -428,18 +428,22 @@ PrefabInstance:
       propertyPath: m_Layer
       value: 12
       objectReference: {fileID: 0}
-    - target: {fileID: 4032380963270518, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
-      propertyPath: m_LocalRotation.x
-      value: 0
-      objectReference: {fileID: 0}
     - target: {fileID: 4032380963270518, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
       propertyPath: m_LocalRotation.w
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 4032380963270518, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 4032380963270518, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
       propertyPath: m_LocalEulerAnglesHint.x
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 4935168411433076, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
+      propertyPath: m_RootOrder
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4935168411433076, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
       propertyPath: m_LocalPosition.x
       value: 0
@@ -452,6 +456,10 @@ PrefabInstance:
       propertyPath: m_LocalPosition.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 4935168411433076, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4935168411433076, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
       propertyPath: m_LocalRotation.x
       value: 0
@@ -464,34 +472,26 @@ PrefabInstance:
       propertyPath: m_LocalRotation.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 4935168411433076, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
-      propertyPath: m_LocalRotation.w
-      value: 1
-      objectReference: {fileID: 0}
-    - target: {fileID: 4935168411433076, guid: dda0baf117c99c04dbb8fb1c9e2d1c69, type: 3}
-      propertyPath: m_RootOrder
-      value: 1
+    - target: {fileID: 108625368960626940, guid: dda0baf117c99c04dbb8fb1c9e2d1c69,
+        type: 3}
+      propertyPath: m_Range
+      value: 3
       objectReference: {fileID: 0}
     - target: {fileID: 108625368960626940, guid: dda0baf117c99c04dbb8fb1c9e2d1c69,
         type: 3}
       propertyPath: m_CullingMask.m_Bits
       value: 4294967295
       objectReference: {fileID: 0}
-    - target: {fileID: 108625368960626940, guid: dda0baf117c99c04dbb8fb1c9e2d1c69,
+    - target: {fileID: 114219090854195206, guid: dda0baf117c99c04dbb8fb1c9e2d1c69,
         type: 3}
-      propertyPath: m_Range
-      value: 3
+      propertyPath: offset
+      value: 0.05
       objectReference: {fileID: 0}
     - target: {fileID: 114219090854195206, guid: dda0baf117c99c04dbb8fb1c9e2d1c69,
         type: 3}
       propertyPath: manager
       value: 
       objectReference: {fileID: 139748563}
-    - target: {fileID: 114219090854195206, guid: dda0baf117c99c04dbb8fb1c9e2d1c69,
-        type: 3}
-      propertyPath: offset
-      value: 0.05
-      objectReference: {fileID: 0}
     - target: {fileID: 114258083924026048, guid: dda0baf117c99c04dbb8fb1c9e2d1c69,
         type: 3}
       propertyPath: RotationSpeed
@@ -511,6 +511,14 @@ PrefabInstance:
   m_Modification:
     m_TransformParent: {fileID: 0}
     m_Modifications:
+    - target: {fileID: 1603769914748404, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
+      propertyPath: m_RootOrder
+      value: 2
+      objectReference: {fileID: 0}
     - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
       propertyPath: m_LocalPosition.x
       value: 0
@@ -523,6 +531,10 @@ PrefabInstance:
       propertyPath: m_LocalPosition.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
       propertyPath: m_LocalRotation.x
       value: 0
@@ -535,14 +547,6 @@ PrefabInstance:
       propertyPath: m_LocalRotation.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
-      propertyPath: m_LocalRotation.w
-      value: 1
-      objectReference: {fileID: 0}
-    - target: {fileID: 4309805032874704, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
-      propertyPath: m_RootOrder
-      value: 2
-      objectReference: {fileID: 0}
     - target: {fileID: 20426257081025226, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
       propertyPath: m_Depth
@@ -560,8 +564,8 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
-      propertyPath: enableTracking
-      value: 1
+      propertyPath: inputType
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
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@@ -570,38 +574,33 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
-      propertyPath: advancedPanelOpen
+      propertyPath: enableTracking
       value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
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-      propertyPath: isMappingFilteringEnable
+      propertyPath: enableIMUFusion
       value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
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-    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
-        type: 3}
-      propertyPath: camControlFoldoutOpen
-      value: 0
+      propertyPath: m_maxDepthRange
+      value: 40
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
-      propertyPath: m_cameraBrightness
-      value: 90
+      propertyPath: setIMUPriorInAR
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
-      propertyPath: inputType
-      value: 0
+      propertyPath: svoInputFileName
+      value: 
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
-      propertyPath: enableRightDepthMeasure
-      value: 0
+      propertyPath: advancedPanelOpen
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       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
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@@ -610,8 +609,8 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
-      propertyPath: enableIMUFusion
-      value: 1
+      propertyPath: m_cameraBrightness
+      value: 90
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
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@@ -620,23 +619,33 @@ PrefabInstance:
       objectReference: {fileID: 0}
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         type: 3}
-      propertyPath: setIMUPriorInAR
-      value: 1
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     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
         type: 3}
-      propertyPath: m_textureConfidenceThreshold
-      value: 100
+      propertyPath: camControlFoldoutOpen
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
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-      propertyPath: recordingFoldoutOpen
+      propertyPath: enableRightDepthMeasure
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         type: 3}
-      propertyPath: m_maxDepthRange
-      value: 40
+      propertyPath: isMappingFilteringEnable
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
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+      value: 100
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
@@ -675,18 +684,11 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 133b3bfe60baacd45a72714ffc6eb29a, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  index: -1
-  useLegacySteamVRInput: 0
   deviceToTrack: 1
   latencyCompensation: 78
   correctControllerDrift: 1
   SNHolder: 
   zedManager: {fileID: 139748563}
-  fireBinding_Legacy: 33
-  clickBinding_Legacy: 33
-  backBinding_Legacy: 2
-  grabBinding_Legacy: 33
-  navigateUIBinding_Legacy: 32
   onFireDown:
     m_PersistentCalls:
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@@ -846,18 +848,11 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 133b3bfe60baacd45a72714ffc6eb29a, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  index: -1
-  useLegacySteamVRInput: 0
   deviceToTrack: 0
   latencyCompensation: 78
   correctControllerDrift: 1
   SNHolder: 
   zedManager: {fileID: 139748563}
-  fireBinding_Legacy: 33
-  clickBinding_Legacy: 33
-  backBinding_Legacy: 2
-  grabBinding_Legacy: 33
-  navigateUIBinding_Legacy: 32
   onFireDown:
     m_PersistentCalls:
       m_Calls: []

diff --git a/ZEDCamera/Assets/ZED/Examples/SkeletonTracking/Ressources/Textures/Unlit_UnlitWithMask.mat b/ZEDCamera/Assets/ZED/Examples/SkeletonTracking/Ressources/Textures/Unlit_UnlitWithMask.mat