Merge branch 'feature/fix_rgbdepth_camera' into develop

Author: micahpearlman

Editor/ZOImportZeroSimProcessor.cs.meta

@@ -1,7 +1,7 @@
 using UnityEngine;
 using UnityEditor;
 using ZO.Document;
-
+using ZO.ImportExport;
 namespace ZO.Editor {
     public static class ZOZeroSimMenu {
         [MenuItem("GameObject/ZeroSim/New Robot", false, 0)]
@@ -12,8 +12,8 @@ static void CreateZeroSimRobot(MenuCommand menuCommand) {
             GameObject baseOccurrence = new GameObject("base");
             baseOccurrence.transform.SetParent(documentRoot.transform);
             ZOSimOccurrence occurrence = baseOccurrence.AddComponent<ZOSimOccurrence>();
-            occurrence.DocumentRoot = docRoot; 
-            
+            occurrence.DocumentRoot = docRoot;
+
 
             GameObject visuals = new GameObject("visuals");
             visuals.transform.SetParent(occurrence.transform);
@@ -32,11 +32,26 @@ static void CreateZeroSimRobot(MenuCommand menuCommand) {
             GameObject cubeCollision = new GameObject("MyExampleCollisionCube");
             cubeCollision.AddComponent<BoxCollider>();
             cubeCollision.transform.SetParent(collisions.transform);
-            
-            
+
+
 
             Undo.RegisterCreatedObjectUndo(documentRoot, "Create ZeroSim Robot " + documentRoot.name);
             Selection.activeGameObject = documentRoot;
         }
+
+
+
+        [MenuItem("GameObject/ZeroSim/Import URDF...", false, 0)]
+        static void ImportURDF(MenuCommand menuCommand) {
+            string filePath = EditorUtility.OpenFilePanel("Import URDF", ".", "urdf");
+
+            if (filePath.Length == 0) {
+                return;
+            }
+
+            ZOImportURDF.Import(filePath);
+
+        }
+
     }
 }

Editor/ZOImportZeroSimProcessor.cs Editor/ZOImportZeroSimProcessor.cs~Editor/ZOImportZeroSimProcessor.cs renamed to Editor/ZOImportZeroSimProcessor.cs~

@@ -17,7 +17,7 @@ namespace ZO.Sensors {
     /// Simulation of a color RGB camera sensor.
     /// </summary>
     [RequireComponent(typeof(Camera))] //[ExecuteInEditMode]
-    public class ZORGBCamera : ZOGameObjectBase, ZOSerializationInterface {
+    public class ZORGBCamera : ZOGameObjectBase {
         [Header("Camera Parameters")]
         public Camera _camera;
         // public bool _isMonochrome = false;
@@ -287,60 +287,6 @@ private set {
             }
         }
 
-        private JObject _json;
-        public JObject JSON {
-            get => _json;
-        }
-
-
-        public JObject Serialize(ZOSimDocumentRoot documentRoot, UnityEngine.Object parent = null) {
-            JObject json = new JObject(
-                new JProperty("name", Name),
-                new JProperty("type", Type),
-                new JProperty("width", _width),
-                new JProperty("height", _height),
-                new JProperty("aspect_ratio", UnityCamera.aspect),
-                new JProperty("field_of_view", UnityCamera.fieldOfView),
-                new JProperty("depth", UnityCamera.depth),
-                new JProperty("sensor_size", UnityCamera.sensorSize.ToJSON()),
-                new JProperty("focal_length", UnityCamera.focalLength)
-            );
-
-
-            ZOSimOccurrence parent_occurrence = GetComponent<ZOSimOccurrence>();
-            if (parent_occurrence) {
-                json["parent_occurrence"] = parent_occurrence.Name;
-            }
-
-            _json = json;
-
-            return json;
-        }
-
-
-        public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json) {
-            // Assert.Equals(json["type"].Value<string>() == Type);
-
-            if (UnityCamera == null) {  // check if there is already a camera assigned.
-                UnityCamera = GetComponent<Camera>();  // check if we have a camera component but it is unassigend
-                if (UnityCamera == null) {
-                    // we have no camera so create one
-                    UnityCamera = gameObject.AddComponent<Camera>();
-                }
-            }
-            _json = json;
-            Name = json.ValueOrDefault("name", Name);
-            _width = json.ValueOrDefault("width", _width);
-            _height = json.ValueOrDefault("height", _height);
-            UnityCamera.aspect = json.ValueOrDefault("aspect_ratio", UnityCamera.aspect);
-            UnityCamera.fieldOfView = json.ValueOrDefault("field_of_view", UnityCamera.fieldOfView);
-            UnityCamera.depth = json.ValueOrDefault("depth", UnityCamera.depth);
-            UnityCamera.sensorSize = json.ToVector2OrDefault("sensor_size", UnityCamera.sensorSize);
-            UnityCamera.focalLength = json.ValueOrDefault("focal_length", UnityCamera.focalLength);
-
-            Initialize();
-
-        }
         #endregion
 
 

Editor/ZOZeroSimMenu.cs

@@ -12,35 +12,6 @@
 
 namespace ZO.Sensors {
 
-    /// <summary>
-    /// This job process the framebuffer data of float32 R, G, B, D pixels and converts to 
-    /// </summary>
-    [BurstCompile(CompileSynchronously = true)]
-    struct ZOPostProcessFrameBuffer : IJobParallelForBatch {
-        [ReadOnly] public float DepthScale;
-        [ReadOnly] public NativeArray<float> FrameBuffer;
-
-        public NativeArray<float> DepthValues;
-        public NativeArray<byte> RGBValues;
-        public void Execute(int startIndex, int count) {
-            int end = startIndex + count;
-            int pixelIdx = startIndex / 4;
-            int rgbPixelIdx = pixelIdx * 3;
-            float r = FrameBuffer[startIndex + 0];
-            float g = FrameBuffer[startIndex + 0];
-            float b = FrameBuffer[startIndex + 0];
-            float d = FrameBuffer[startIndex + 0];
-
-            RGBValues[rgbPixelIdx + 0] = (byte)(b * 255.0f);
-            RGBValues[rgbPixelIdx + 1] = (byte)(g * 255.0f);
-            RGBValues[rgbPixelIdx + 2] = (byte)(r * 255.0f);
-            DepthValues[pixelIdx] = d * DepthScale;
-
-
-        }
-    };
-
-
     /// <summary>
     /// A RGB image + depth camera sensor. 
     /// </summary>
@@ -52,15 +23,6 @@ public enum FrameOutputType {
         };
 
         [Header("Camera Parameters")]
-        public string _cameraId = "none";
-
-        /// <summary>
-        /// The unique name identifying this depth camera.
-        /// </summary>
-        /// <value></value>
-        public string Name {
-            get => _cameraId;
-        }
         public Camera _camera;
 
         /// <summary>
@@ -170,12 +132,33 @@ public Vector2 SensorSizeMM {
         private Queue<Task> _publishTasks = new Queue<Task>();
 
 
-        protected override void ZOReset() {
-            base.ZOReset();
-            UpdateRateHz = 30;
-            
+
+        protected override void ZOOnValidate() {
+            base.ZOOnValidate();
+            // if camera is not assigned see if we have a camera component on this game object
+            if (_camera == null) {
+                _camera = this.GetComponent<Camera>();
+            }
+
+            // if no post process material then assign default
+            if (_rgbDepthCameraShader == null) {
+#if UNITY_EDITOR
+                _rgbDepthCameraShader = Resources.Load<Material>("ZORGBDMaterial");
+#else // UNITY_EDITOR
+                _rgbDepthCameraShader = ZOROSUnityManager.Instance.DefaultAssets.LoadAsset<Material>("ZORGBDMaterial");
+#endif // UNITY_EDITOR                
+            }
+
+            if (UpdateRateHz == 0) {
+                UpdateRateHz = 10;
+            }
+
+            if (Name == "") {
+                Name = gameObject.name + "_" + Type;
+            }
         }
 
+
         protected override void ZOAwake() {
             base.ZOAwake();
             _fieldOfViewDegrees = UnityCamera.fieldOfView;
@@ -300,7 +283,7 @@ private void DoRenderTextureUpdate() {
                                     _averageDepth = d;
 
                                 }
-                                OnPublishDelegate(this, _cameraId, _width, _height, _colorPixels24, _depthBufferFloat);
+                                OnPublishDelegate(this, Name, _width, _height, _colorPixels24, _depthBufferFloat);
                             });
 
                             _publishTasks.Enqueue(publishTask);
@@ -326,6 +309,19 @@ private void OnDestroy() {
             _rgbValues.Dispose();
         }
 
+        public string Type {
+            get { return "sensor.rgbdebthgcamera"; }
+        }
+
+        [SerializeField] public string _name;
+        public string Name {
+            get {
+                return _name;
+            }
+            private set {
+                _name = value;
+            }
+        }
 
 
     }

Runtime/Scripts/Sensors/RGBCamera/ZORGBCamera.cs

@@ -1,4 +1,5 @@
 using UnityEngine;
+using System.Collections.Generic;
 
 namespace ZO.Util.Extensions {
     public static class ZOROSConversionExtensions {
@@ -36,6 +37,29 @@ public static string ToXMLString(this Vector3 v) {
             return $"{v.x} {v.y} {v.z}";
         }
 
+        /// <summary>
+        /// Converts URDF Xml string vector "1 2 3" to Vector3
+        /// </summary>
+        /// <param name="s">URDF XML string in format "1.0 2.0 3.0" 3 numbers separated by spaces</param>
+        /// <returns></returns>
+        public static Vector3 FromURDFStringToVector3(this string s) {
+            string[] splits = s.Split(' ');
+            List<float> numbers = new List<float>();
+            foreach (string snum in splits) {
+                if (float.TryParse(snum, out float v)) {
+                    numbers.Add(v);
+                }
+            }
+
+            if (numbers.Count == 3) {
+                return new Vector3(numbers[0], numbers[1], numbers[2]);
+            }
+
+            Debug.LogWarning($"Could not parse string: {s}");
+
+            return Vector3.zero;
+        } 
+
 
     }