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type: 3} + - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: animalDetectionConfidenceThreshold value: 60 objectReference: {fileID: 0} - - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, - type: 3} + - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: objectDetectionConfidenceThreshold value: 50 objectReference: {fileID: 0} - - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, - type: 3} + - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: personDetectionConfidenceThreshold value: 20 objectReference: {fileID: 0} - - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, - type: 3} + - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: vehicleDetectionConfidenceThreshold value: 60 objectReference: {fileID: 0} - - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, - type: 3} + - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: OD_personDetectionConfidenceThreshold value: 60 objectReference: {fileID: 0} - - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, - type: 3} + - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: electronicsDetectionConfidenceThreshold value: 60 objectReference: {fileID: 0} - - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, - type: 3} + - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: fruitVegetableDetectionConfidenceThreshold value: 60 objectReference: {fileID: 0} @@ -365,8 +334,7 @@ PrefabInstance: m_SourcePrefab: {fileID: 100100000, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} --- !u!114 &56380649 stripped MonoBehaviour: - m_CorrespondingSourceObject: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, - type: 3} + m_CorrespondingSourceObject: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} m_PrefabInstance: {fileID: 56380648} m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 0} @@ -516,8 +484,7 @@ MonoBehaviour: zedManager: {fileID: 56380649} detectionMode: 0 startAIModuleAutomatically: 1 - boundingBoxPrefab: {fileID: 1438017172825460, guid: 2d803190bc4738d4daf5932468a5495e, - type: 3} + boundingBoxPrefab: {fileID: 1438017172825460, guid: 2d803190bc4738d4daf5932468a5495e, type: 3} boxColors: - {r: 0.23137257, g: 0.909804, b: 0.6901961, a: 1} - {r: 0.098039225, g: 0.6862745, b: 0.81568635, a: 1} diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs index b49ce4e1..eafa8ec3 100644 --- a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs +++ b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs @@ -223,6 +223,7 @@ public void Visualize2DBoundingBoxes(ObjectDetectionFrame dframe) List activeids = liveBBoxes.Keys.ToList(); List newobjects = dframe.GetFilteredObjectList(showONTracked, showSEARCHINGTracked, showOFFTracked); + //Test just setting box to first available. foreach (DetectedObject dobj in newobjects) { @@ -247,6 +248,7 @@ public void Visualize2DBoundingBoxes(ObjectDetectionFrame dframe) bbox.sizeDelta = new Vector2(objrect.width, objrect.height); bbox.anchoredPosition = new Vector2(objrect.x, objrect.y); + //Apply the mask. if (showObjectMask) { @@ -308,7 +310,7 @@ public void Visualize2DBoundingBoxes(BodyTrackingFrame dframe) //Adjust the size of the RectTransform to encompass the object. bbox.sizeDelta = new Vector2(objrect.width, objrect.height); bbox.anchoredPosition = new Vector2(objrect.x, objrect.y); - + //Apply the mask. if (showObjectMask) { diff --git a/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity b/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity index a0504056..c99f78e8 100644 --- a/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity +++ b/ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity @@ -819,10 +819,18 @@ PrefabInstance: propertyPath: m_LocalRotation.z value: 0 objectReference: {fileID: 0} + - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} + propertyPath: inputType + value: 0 + objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: showarrig value: 1 objectReference: {fileID: 0} + - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} + propertyPath: svoInputFileName + value: + objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: advancedPanelOpen value: 1 diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs index f0445ea3..f8fef484 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs @@ -152,10 +152,8 @@ public Vector2[] Get2DBoundingBoxCorners_Image(float scaleForCanvasUnityError = Vector2 rawcoord; rawcoord.x = bodyData.boundingBox2D[i].x * scaleForCanvasUnityError + cxoffset; rawcoord.y = detectingZEDManager.zedCamera.ImageHeight - bodyData.boundingBox2D[i].y + cyoffset; - - //Terrible hack to compensate for bug in Unity that scales the Canvas very improperly if you have certain (necessary) values on the projection matrix. - rawcoord.y = (rawcoord.y - (zedimageheight / 2f)) * scaleForCanvasUnityError + (zedimageheight / 2f); + flippedYimagecoords[i] = rawcoord; } return flippedYimagecoords; diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs index 895835eb..4d2b0273 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs @@ -174,9 +174,8 @@ public Vector2[] Get2DBoundingBoxCorners_Image(float scaleForCanvasUnityError = Vector2 rawcoord; rawcoord.x = objectData.boundingBox2D[i].x * scaleForCanvasUnityError + cxoffset; rawcoord.y = detectingZEDManager.zedCamera.ImageHeight - objectData.boundingBox2D[i].y + cyoffset; - - //Terrible hack to compensate for bug in Unity that scales the Canvas very improperly if you have certain (necessary) values on the projection matrix. - rawcoord.y = (rawcoord.y - (zedimageheight / 2f)) * scaleForCanvasUnityError + (zedimageheight / 2f); + + flippedYimagecoords[i] = rawcoord; } return flippedYimagecoords; @@ -318,6 +317,7 @@ public bool GetMaskTexture(out Texture2D masktex, bool fliponYaxis) if (maskTexture == null) { IntPtr maskpointer = maskMat.GetPtr(sl.ZEDMat.MEM.MEM_CPU); + if (maskpointer != IntPtr.Zero) { maskTexture = ZEDMatToTexture_CPU(maskMat, false); diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/PlaneDetection/ZEDPlaneDetectionManager.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/PlaneDetection/ZEDPlaneDetectionManager.cs index 1904b7de..f8f7802c 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/PlaneDetection/ZEDPlaneDetectionManager.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/PlaneDetection/ZEDPlaneDetectionManager.cs @@ -374,8 +374,10 @@ public bool DetectPlaneAtHit(ZEDManager manager, Vector2 screenPos) sl.ZEDCamera zedcam = manager.zedCamera; Camera cam = manager.GetMainCamera(); + sl.PlaneDetectionParameters planeParameters = new sl.PlaneDetectionParameters(manager.planeDetectionMaxDistanceThreshold, manager.planeDetectioNormalSimilarityThreshold); + ZEDPlaneGameObject.PlaneData plane = new ZEDPlaneGameObject.PlaneData(); - if (zedcam.findPlaneAtHit(ref plane, screenPos) == sl.ERROR_CODE.SUCCESS) //We found a plane. + if (zedcam.findPlaneAtHit(ref plane, screenPos, ref planeParameters) == sl.ERROR_CODE.SUCCESS) //We found a plane. { int numVertices, numTriangles = 0; zedcam.convertHitPlaneToMesh(planeMeshVertices, planeMeshTriangles, out numVertices, out numTriangles); diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs index c4466df5..ff859e27 100644 --- a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs +++ b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs @@ -301,6 +301,21 @@ public enum shaderType ///////////////////////////////////////////////////////////////////////// ///////////////////////// Spatial Mapping /////////////////////////////// ///////////////////////////////////////////////////////////////////////// + + /// + /// Controls the spread of plane by checking the position difference. + /// Default is 0.15 meters. + /// + [HideInInspector] + public float planeDetectionMaxDistanceThreshold = 0.15f; + + /// + /// Controls the spread of plane by checking the angle difference. + /// Default is 15 degrees. + /// + [HideInInspector] + public float planeDetectioNormalSimilarityThreshold = 15.0f; + /// /// Resolution setting for the scan. A higher resolution creates more submeshes and uses more memory, but is more accurate. /// @@ -3170,6 +3185,7 @@ private void RetrieveObjectDetectionFrame() sl.Objects objsbuffer = new sl.Objects(); sl.ERROR_CODE res = zedCamera.RetrieveObjects(ref objectDetectionRuntimeParameters, ref objsbuffer, objectDetectionInstanceID); + if (res == sl.ERROR_CODE.SUCCESS && objsbuffer.isNew != 0) { if (objectDetection2DMask) diff --git a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs index b98629f4..53cc83ce 100644 --- a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs +++ b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs @@ -651,7 +651,7 @@ private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat private static extern IntPtr dllz_find_floor_plane(int cameraID, out Quaternion rotation, out Vector3 translation, Quaternion priorQuaternion, Vector3 priorTranslation); [DllImport(nameDll, EntryPoint = "sl_find_plane_at_hit")] - private static extern IntPtr dllz_find_plane_at_hit(int cameraID, Vector2 HitPixel, bool refine); + private static extern IntPtr dllz_find_plane_at_hit(int cameraID, Vector2 HitPixel, ref sl_PlaneDetectionParameters plane_params, bool refine); [DllImport(nameDll, EntryPoint = "sl_convert_floorplane_to_mesh")] private static extern int dllz_convert_floorplane_to_mesh(int cameraID, Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles); @@ -2672,6 +2672,16 @@ public int convertFloorPlaneToMesh(Vector3[] vertices, int[] triangles, out int return dllz_convert_floorplane_to_mesh(CameraID, vertices, triangles, out numVertices, out numTriangles); } + /// + /// DLL-friendly version of PlaneDetectionParameters (found in ZEDCommon.cs). + /// + [StructLayout(LayoutKind.Sequential)] + public struct sl_PlaneDetectionParameters + { + public float maxDistanceThreshold; + public float normalSimilarityThreshold; + }; + /// /// Checks for a plane in the real world at given screen-space coordinates. /// Use ZEDPlaneDetectionManager.DetectPlaneAtHit() for a higher-level version that turns planes into GameObjects. @@ -2679,7 +2689,7 @@ public int convertFloorPlaneToMesh(Vector3[] vertices, int[] triangles, out int /// Data on the detected plane. /// Point on the ZED image to check for a plane. /// - public sl.ERROR_CODE findPlaneAtHit(ref ZEDPlaneGameObject.PlaneData plane, Vector2 screenPos) + public sl.ERROR_CODE findPlaneAtHit(ref ZEDPlaneGameObject.PlaneData plane, Vector2 screenPos, ref PlaneDetectionParameters planeDetectionParameters) { IntPtr p = IntPtr.Zero; Quaternion out_quat = Quaternion.identity; @@ -2690,7 +2700,11 @@ public sl.ERROR_CODE findPlaneAtHit(ref ZEDPlaneGameObject.PlaneData plane, Vect posX = Mathf.Clamp(posX, 0, ImageWidth); posY = Mathf.Clamp(posY, 0, ImageHeight); - p = dllz_find_plane_at_hit(CameraID, new Vector2(posX, posY), true); + sl_PlaneDetectionParameters plane_params = new sl_PlaneDetectionParameters(); + plane_params.maxDistanceThreshold = planeDetectionParameters.maxDistanceThreshold; + plane_params.normalSimilarityThreshold = planeDetectionParameters.normalSimilarityThreshold; + + p = dllz_find_plane_at_hit(CameraID, new Vector2(posX, posY), ref plane_params, false); plane.Bounds = new Vector3[256]; if (p != IntPtr.Zero) diff --git a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs index f4ceb9af..05d13c1a 100644 --- a/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs +++ b/ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs @@ -473,7 +473,7 @@ public struct CameraParameters /// /// Distortion coefficients. /// - [MarshalAs(UnmanagedType.ByValArray, ArraySubType = UnmanagedType.U8, SizeConst = 5)] + [MarshalAs(UnmanagedType.ByValArray, ArraySubType = UnmanagedType.U8, SizeConst = 12)] public double[] disto; /// @@ -492,6 +492,11 @@ public struct CameraParameters /// Camera's current resolution. /// public Resolution resolution; + /// + /// Real focal length in millimeters + /// + public float focalLengthMetric; + }; /// @@ -1789,6 +1794,36 @@ public struct RuntimeParameters { } + /// + /// Sets the plane detection parameters. + /// + public class PlaneDetectionParameters + { + /// + /// Controls the spread of plane by checking the position difference. + /// Default is 0.15 meters. + /// + public float maxDistanceThreshold = 0.15f; + + /// + /// Controls the spread of plane by checking the angle difference. + /// Default is 15 degrees. + /// + public float normalSimilarityThreshold = 15.0f; + + public PlaneDetectionParameters() + { + this.maxDistanceThreshold = 0.15f; + this.normalSimilarityThreshold = 15.0f; + } + public PlaneDetectionParameters(float maxDistanceThreshold, float normalSimilarityThreshold) + { + this.maxDistanceThreshold = maxDistanceThreshold; + this.normalSimilarityThreshold = normalSimilarityThreshold; + } + } + + /// ///brief Lists available compression modes for SVO recording. /// @@ -2624,21 +2659,21 @@ public enum AI_MODELS /// /// related to sl.DETECTION_MODEL.HUMAN_BODY_FAST /// - PERSON_HEAD_FAST_DETECTION=12, + PERSON_HEAD_FAST_DETECTION=9, /// /// related to sl.DETECTION_MODEL.PERSON_HEAD /// - PERSON_HEAD_ACCURATE_DETECTION=13, + PERSON_HEAD_ACCURATE_DETECTION=10, /// /// related to sl.BatchParameters.enable /// - REID_ASSOCIATION=14, + REID_ASSOCIATION=11, /// /// related to sl.DETECTION_MODEL.NEURAL /// - NEURAL_DEPTH=15, + NEURAL_DEPTH=12, - LAST=16 + LAST=13 }; /// diff --git a/ZEDCamera/Assets/ZED/SDK/Plugins/linux/libsl_unitywrapper.so b/ZEDCamera/Assets/ZED/SDK/Plugins/linux/libsl_unitywrapper.so index c52ab8d0..d6d1dfc8 100644 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 f05139be..8cc27be1 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