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Bvallon-slBvallon-sl
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4.0.6 (#263)
* add new plane detection parameters * add new focal length attribute * update linux lib + fix ai model enum * fix od 2d sample * also fix when using BT * clean scenes
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14 files changed

+390
-591
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‎ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingMulti.unity‎

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‎ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingSingle.unity‎

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‎ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/2D Object Detection.unity‎

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‎ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/3D Object Detection.unity‎

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‎ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs‎

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Original file line numberDiff line numberDiff line change
@@ -223,6 +223,7 @@ public void Visualize2DBoundingBoxes(ObjectDetectionFrame dframe)
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List<int> activeids = liveBBoxes.Keys.ToList();
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List<DetectedObject> newobjects = dframe.GetFilteredObjectList(showONTracked, showSEARCHINGTracked, showOFFTracked);
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//Test just setting box to first available.
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foreach (DetectedObject dobj in newobjects)
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{
@@ -247,6 +248,7 @@ public void Visualize2DBoundingBoxes(ObjectDetectionFrame dframe)
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bbox.sizeDelta = new Vector2(objrect.width, objrect.height);
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bbox.anchoredPosition = new Vector2(objrect.x, objrect.y);
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//Apply the mask.
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if (showObjectMask)
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{
@@ -308,7 +310,7 @@ public void Visualize2DBoundingBoxes(BodyTrackingFrame dframe)
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//Adjust the size of the RectTransform to encompass the object.
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bbox.sizeDelta = new Vector2(objrect.width, objrect.height);
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bbox.anchoredPosition = new Vector2(objrect.x, objrect.y);
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//Apply the mask.
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if (showObjectMask)
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{

‎ZEDCamera/Assets/ZED/Examples/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity‎

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‎ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -152,10 +152,8 @@ public Vector2[] Get2DBoundingBoxCorners_Image(float scaleForCanvasUnityError =
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Vector2 rawcoord;
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rawcoord.x = bodyData.boundingBox2D[i].x * scaleForCanvasUnityError + cxoffset;
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rawcoord.y = detectingZEDManager.zedCamera.ImageHeight - bodyData.boundingBox2D[i].y + cyoffset;
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//Terrible hack to compensate for bug in Unity that scales the Canvas very improperly if you have certain (necessary) values on the projection matrix.
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rawcoord.y = (rawcoord.y - (zedimageheight / 2f)) * scaleForCanvasUnityError + (zedimageheight / 2f);
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flippedYimagecoords[i] = rawcoord;
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}
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return flippedYimagecoords;

‎ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -174,9 +174,8 @@ public Vector2[] Get2DBoundingBoxCorners_Image(float scaleForCanvasUnityError =
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Vector2 rawcoord;
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rawcoord.x = objectData.boundingBox2D[i].x * scaleForCanvasUnityError + cxoffset;
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rawcoord.y = detectingZEDManager.zedCamera.ImageHeight - objectData.boundingBox2D[i].y + cyoffset;
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//Terrible hack to compensate for bug in Unity that scales the Canvas very improperly if you have certain (necessary) values on the projection matrix.
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rawcoord.y = (rawcoord.y - (zedimageheight / 2f)) * scaleForCanvasUnityError + (zedimageheight / 2f);
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flippedYimagecoords[i] = rawcoord;
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}
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return flippedYimagecoords;
@@ -318,6 +317,7 @@ public bool GetMaskTexture(out Texture2D masktex, bool fliponYaxis)
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if (maskTexture == null)
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{
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IntPtr maskpointer = maskMat.GetPtr(sl.ZEDMat.MEM.MEM_CPU);
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if (maskpointer != IntPtr.Zero)
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{
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maskTexture = ZEDMatToTexture_CPU(maskMat, false);

‎ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/PlaneDetection/ZEDPlaneDetectionManager.cs‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -374,8 +374,10 @@ public bool DetectPlaneAtHit(ZEDManager manager, Vector2 screenPos)
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sl.ZEDCamera zedcam = manager.zedCamera;
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Camera cam = manager.GetMainCamera();
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377+
sl.PlaneDetectionParameters planeParameters = new sl.PlaneDetectionParameters(manager.planeDetectionMaxDistanceThreshold, manager.planeDetectioNormalSimilarityThreshold);
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ZEDPlaneGameObject.PlaneData plane = new ZEDPlaneGameObject.PlaneData();
378-
if (zedcam.findPlaneAtHit(ref plane, screenPos) == sl.ERROR_CODE.SUCCESS) //We found a plane.
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if (zedcam.findPlaneAtHit(ref plane, screenPos, ref planeParameters) == sl.ERROR_CODE.SUCCESS) //We found a plane.
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{
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int numVertices, numTriangles = 0;
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zedcam.convertHitPlaneToMesh(planeMeshVertices, planeMeshTriangles, out numVertices, out numTriangles);

‎ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/ZEDManager.cs‎

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -301,6 +301,21 @@ public enum shaderType
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/////////////////////////////////////////////////////////////////////////
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///////////////////////// Spatial Mapping ///////////////////////////////
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/////////////////////////////////////////////////////////////////////////
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/// <summary>
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/// Controls the spread of plane by checking the position difference.
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/// Default is 0.15 meters.
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/// </summary>
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[HideInInspector]
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public float planeDetectionMaxDistanceThreshold = 0.15f;
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/// <summary>
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/// Controls the spread of plane by checking the angle difference.
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/// Default is 15 degrees.
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/// </summary>
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[HideInInspector]
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public float planeDetectioNormalSimilarityThreshold = 15.0f;
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/// <summary>
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/// Resolution setting for the scan. A higher resolution creates more submeshes and uses more memory, but is more accurate.
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/// </summary>
@@ -3170,6 +3185,7 @@ private void RetrieveObjectDetectionFrame()
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sl.Objects objsbuffer = new sl.Objects();
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sl.ERROR_CODE res = zedCamera.RetrieveObjects(ref objectDetectionRuntimeParameters, ref objsbuffer, objectDetectionInstanceID);
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if (res == sl.ERROR_CODE.SUCCESS && objsbuffer.isNew != 0)
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{
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if (objectDetection2DMask)

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