Merge pull request #272 from stereolabs/dev-4.0.7

Update to 4.0.7

Author: SLJLMacarit

ZEDCamera/Assets/ZED/Editor/Scripts/ZEDCameraEditor.cs

@@ -166,6 +166,7 @@ public class ZEDCameraEditor : Editor
     SerializedProperty openTimeoutSecProperty;
     SerializedProperty asyncGrabCameraRecoveryProperty;
     SerializedProperty grabComputeCappingFPSProperty;
+    SerializedProperty enableImageValidityCheckProperty;
 
     // Rendering Prop
     private int arlayer;
@@ -364,6 +365,7 @@ private void OnEnable()
         openTimeoutSecProperty = serializedObject.FindProperty("openTimeoutSec");
         asyncGrabCameraRecoveryProperty = serializedObject.FindProperty("asyncGrabCameraRecovery");
         grabComputeCappingFPSProperty = serializedObject.FindProperty("grabComputeCappingFPS");
+        enableImageValidityCheckProperty = serializedObject.FindProperty("enableImageValidityCheck");
 
         //Video Settings Serialized Properties
         videoSettingsInitModeProperty = serializedObject.FindProperty("videoSettingsInitMode");
@@ -1242,10 +1244,18 @@ public override void OnInspectorGUI()
                 "Default is 0, which means that the setting is not used.");
             grabComputeCappingFPSProperty.floatValue = EditorGUILayout.FloatField(grabComputeCappingFPSLabel, grabComputeCappingFPSProperty.floatValue);
 
+            GUIContent enableImageValidityCheckLabel = new GUIContent("Enable Image Validity Check", "Enable or disable the image validity verification." +
+                "\nThis will perform additional verification on the image to identify corrupted data. This verification is done in the grab function and requires some computations." +
+                "\nIf an issue is found, the grab function will output a warning as sl::ERROR_CODE::CORRUPTED_FRAME." +
+                "This version currently doesn't detect frame tearing." +
+                "\nDefault: disabled");
+            enableImageValidityCheckProperty.boolValue = EditorGUILayout.Toggle(enableImageValidityCheckLabel, enableImageValidityCheckProperty.boolValue);
+
             GUILayout.Space(12);
 
             EditorGUI.indentLevel--;
 
+
             EditorGUILayout.LabelField("AR Passthrough Settings", EditorStyles.boldLabel);
             GUILayout.Space(5);
 

ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/HeightOffsetter.cs

@@ -8,7 +8,7 @@ public class HeightOffsetter : MonoBehaviour
 
     [Header("Main settings")]
 
-    ZEDBodyTrackingManager bodyTrackingManager;
+    public ZEDBodyTrackingManager bodyTrackingManager;
 
     [SerializeField]
     private float currentAutoHeightOffset = 0f;

ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/SkeletonHandler.cs

@@ -436,6 +436,7 @@ public const int
 
     private GameObject humanoid;
     public ZEDSkeletonAnimator zedSkeletonAnimator = null;
+    public ZEDBodyTrackingManager zedBodyTrackingManager = null;
     private Animator animator;
     private Dictionary<HumanBodyBones, RigBone> rigBone = null;
     private Dictionary<HumanBodyBones, Quaternion> rigBoneTarget = null;
@@ -529,7 +530,7 @@ public Animator GetAnimator()
     /// </summary>
     /// <param name="h">The humanoid GameObject prefab.</param>
     /// <param name="body_format">The Body model to apply (34 or 38 bones).</param>
-    public void Create(GameObject h, sl.BODY_FORMAT body_format)
+    public void Create(GameObject h, sl.BODY_FORMAT body_format, ZEDBodyTrackingManager btmanager)
     {
         humanoid = (GameObject)Instantiate(h, Vector3.zero, Quaternion.identity);
         animator = humanoid.GetComponent<Animator>();
@@ -538,6 +539,7 @@ public void Create(GameObject h, sl.BODY_FORMAT body_format)
 
         zedSkeletonAnimator = humanoid.GetComponent<ZEDSkeletonAnimator>();
         zedSkeletonAnimator.Skhandler = this;
+        zedSkeletonAnimator.BodyTrackingManager = btmanager;
 
         // Init list of bones that will be updated by the data retrieved from the ZED SDK
         rigBone = new Dictionary<HumanBodyBones, RigBone>();

ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/ZEDBodyTrackingManager.cs

@@ -208,7 +208,7 @@ void OnDestroy()
     IEnumerator InstanciateAvatarWithDelay(float delay, DetectedBody dbody)
     {
         SkeletonHandler handler = ScriptableObject.CreateInstance<SkeletonHandler>();
-        handler.Create(avatar, bodyFormat);
+        handler.Create(avatar, bodyFormat, this);
         handler.InitSkeleton(dbody.rawBodyData.id, new Material(skeletonBaseMaterial));
 
         avatarControlList.Add(dbody.rawBodyData.id, handler);

ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/ZEDSkeletonAnimator.cs

@@ -280,17 +280,13 @@ public void TryShowAvatar(bool newVisibility)
 
     private void Awake()
     {
-        bodyTrackingManager = FindObjectOfType<ZEDBodyTrackingManager>();
-        if (bodyTrackingManager == null)
-        {
-            Debug.LogError("ZEDManagerIK: No body tracking manager loaded!");
-        }
         heightOffsetter = GetComponent<HeightOffsetter>();
     }
 
     void Start()
     {
         animator = GetComponent<Animator>();
+        heightOffsetter.bodyTrackingManager = bodyTrackingManager;
     }
 
     private void Update()

ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/Display/ZEDRenderingPlane.cs

@@ -115,6 +115,8 @@ public Camera renderingCam
     /// </summary>
     Texture2D depth;
 
+    public Texture2D Depth { get { return depth; } }
+
     /// <summary>
     /// Normals generated by the ZEDCamera.
     /// Once created, the ZED SDK automatically updates it whenever the ZED captures new frames/images.

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

@@ -142,6 +142,17 @@ public static List<ZEDManager> GetInstances()
     [HideInInspector]
     public float grabComputeCappingFPS = 0f;
 
+    /// <summary>
+    /// Define a computation upper limit to the grab frequency. 0 means setting is ignored.
+    /// This can be useful to get a known constant fixed rate or limit the computation load while keeping a short exposure time by setting a high camera capture framerate.
+	/// The value should be inferior to the InitParameters::camera_fps and strictly positive.It has no effect when reading an SVO file.
+	/// This is an upper limit and won't make a difference if the computation is slower than the desired compute capping fps.
+	/// Internally the grab function always tries to get the latest available image while respecting the desired fps as much as possible.
+    /// default is 0.
+    /// </summary>
+    [HideInInspector]
+    public bool enableImageValidityCheck = false;
+
     /// <summary>
     /// SVO loop back option
     /// </summary>
@@ -2068,6 +2079,7 @@ void Awake()
         initParameters.openTimeoutSec = openTimeoutSec;
         initParameters.asyncGrabCameraRecovery = asyncGrabCameraRecovery;
         initParameters.grabComputeCappingFPS = grabComputeCappingFPS;
+        initParameters.enableImageValidityCheck = enableImageValidityCheck;
 
         //Check if this rig is a stereo rig. Will set isStereoRig accordingly.
         CheckStereoMode();
@@ -2186,7 +2198,6 @@ private void OpenZEDInBackground()
         {
             initQuittingHandle.WaitOne(0); //Makes sure we haven't been turned off early, which only happens in Destroy() from OnApplicationQuit().
             if (forceCloseInit) break;
-
             lastInitStatus = zedCamera.Open(ref initParameters);
             timeout++;
             numberTriesOpening++;
@@ -3562,17 +3573,12 @@ void CreateMirror()
     }
     #endregion
 
-    /// <summary>
-    /// Closes out the current stream, then starts it up again while maintaining tracking data.
-    /// Used when the zed becomes unplugged, or you want to change a setting at runtime that
-    /// requires re-initializing the camera.
-    /// </summary>
-    public void Reset()
+    public void Close()
     {
         //Save tracking
         if (enableTracking && isTrackingEnable)
         {
-            zedCamera.GetPosition(ref zedOrientation, ref zedPosition);
+            if (zedCamera != null) zedCamera.GetPosition(ref zedOrientation, ref zedPosition);
         }
 
         CloseManager();
@@ -3581,6 +3587,16 @@ public void Reset()
         running = false;
         numberTriesOpening = 0;
         forceCloseInit = false;
+    }
+
+    /// <summary>
+    /// Closes out the current stream, then starts it up again while maintaining tracking data.
+    /// Used when the zed becomes unplugged, or you want to change a setting at runtime that
+    /// requires re-initializing the camera.
+    /// </summary>
+    public void Reset()
+    {
+        Close();
 
         Awake();
     }

ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCamera.cs

@@ -285,7 +285,7 @@ public int TagInvisibleToZED
         /// <summary>
         /// Current Plugin Version.
         /// </summary>
-        public static readonly System.Version PluginVersion = new System.Version(4, 0, 6);
+        public static readonly System.Version PluginVersion = new System.Version(4, 0, 7);
 
         /******** DLL members ***********/
         [DllImport(nameDll, EntryPoint = "GetRenderEventFunc")]
@@ -413,6 +413,9 @@ public int TagInvisibleToZED
          * Camera control functions.
          */
 
+        [DllImport(nameDll, EntryPoint = "sl_is_camera_setting_supported")]
+        private static extern bool dllz_is_video_setting_supported(int id, int setting);
+
         [DllImport(nameDll, EntryPoint = "sl_set_video_settings")]
         private static extern void dllz_set_video_settings(int id, int mode, int value);
 
@@ -499,16 +502,18 @@ public int TagInvisibleToZED
         [DllImport(nameDll, EntryPoint = "sl_get_svo_position")]
         private static extern int dllz_get_svo_position(int cameraID);
 
+        [DllImport(nameDll, EntryPoint = "sl_get_svo_position_at_timestamp")]
+        private static extern int dllz_get_svo_position_at_timestamp(int cameraID, ulong timestamp);
 
         /*
          * Depth Sensing utils functions.
          */
-         /* Removed as of ZED SDK v3.0.
-        [DllImport(nameDll, EntryPoint = "set_confidence_threshold")]
-        private static extern void dllz_set_confidence_threshold(int cameraID, int threshold);
-        [DllImport(nameDll, EntryPoint = "set_depth_max_range_value")]
-        private static extern void dllz_set_depth_max_range_value(int cameraID, float distanceMax);
-        */
+        /* Removed as of ZED SDK v3.0.
+       [DllImport(nameDll, EntryPoint = "set_confidence_threshold")]
+       private static extern void dllz_set_confidence_threshold(int cameraID, int threshold);
+       [DllImport(nameDll, EntryPoint = "set_depth_max_range_value")]
+       private static extern void dllz_set_depth_max_range_value(int cameraID, float distanceMax);
+       */
 
         [DllImport(nameDll, EntryPoint = "sl_get_confidence_threshold")]
         private static extern int dllz_get_confidence_threshold(int cameraID);
@@ -1083,6 +1088,16 @@ public struct dll_initParameters
             /// </summary>
             public float grabComputeCappingFPS;
 
+            /// <summary>
+            ///  Enable or disable the image validity verification.
+            ///  This will perform additional verification on the image to identify corrupted data. This verification is done in the grab function and requires some computations.
+            ///  If an issue is found, the grab function will output a warning as sl::ERROR_CODE::CORRUPTED_FRAME.
+            ///  This version doesn't detect frame tearing currently.
+            ///  \n default: disabled
+            /// </summary>
+            [MarshalAs(UnmanagedType.U1)]
+            public bool enableImageValidityCheck;
+
             /// <summary>
             /// Copy constructor. Takes values from Unity-suited InitParameters class.
             /// </summary>
@@ -1110,6 +1125,7 @@ public dll_initParameters(InitParameters init)
                 openTimeoutSec = init.openTimeoutSec;
                 asyncGrabRecovery = init.asyncGrabCameraRecovery;
                 grabComputeCappingFPS = init.grabComputeCappingFPS;
+                enableImageValidityCheck = init.enableImageValidityCheck;
             }
         }
 
@@ -1130,7 +1146,8 @@ public ERROR_CODE Open(ref InitParameters initParameters)
                 initParameters.cameraFPS = (int)fpsMax;
             }
             dll_initParameters initP = new dll_initParameters(initParameters); //DLL-friendly version of InitParameters.
-            initP.coordinateSystem = COORDINATE_SYSTEM.LEFT_HANDED_Y_UP; //Left-hand, Y-up is Unity's coordinate system, so we match that.
+            initP.coordinateSystem = COORDINATE_SYSTEM.LEFT_HANDED_Y_UP; //Left-hand, Y-up is Unity's coordinate system, so we match that
+
             int v = dllz_open(CameraID, ref initP, initParameters.serialNumber,
                 new System.Text.StringBuilder(initParameters.pathSVO, initParameters.pathSVO.Length),
                 new System.Text.StringBuilder(initParameters.ipStream, initParameters.ipStream.Length),
@@ -1322,6 +1339,16 @@ public int GetSVOPosition()
             return dllz_get_svo_position(CameraID);
         }
 
+        /// <summary>
+        /// Retrieves the frame index within the SVO file corresponding to the provided timestamp.
+        /// </summary>
+        /// <param name="timestamp">The target timestamp for which the frame index is to be determined.</param>
+        /// <returns>The frame index within the SVO file that aligns with the given timestamp. Returns -1 if the timestamp falls outside the bounds of the SVO file.</returns>
+        public int GetSVOPositionAtTimestamp(ulong timestamp)
+        {
+            return dllz_get_svo_position_at_timestamp(CameraID, timestamp);
+        }
+
         /// <summary>
         /// Gets the total number of frames in the loaded SVO file.
         /// </summary>
@@ -1981,6 +2008,16 @@ static public void Float2Matrix(ref Matrix4x4 m, float[] f)
             }
         }
 
+        /// <summary>
+        /// Test if the video setting is supported by the camera
+        /// setting : The video setting to test
+        /// true if the \ref SL_VIDEO_SETTINGS is supported by the camera, false otherwise
+        /// </summary>
+        public bool IsCameraSettingSupported(CAMERA_SETTINGS setting)
+        {
+            return dllz_is_video_setting_supported(CameraID, (int)setting);
+        }
+
         /// <summary>
         /// Sets a value in the ZED's camera settings.
         /// </summary>

ZEDCamera/Assets/ZED/SDK/NativeInterface/ZEDCommon.cs

@@ -816,6 +816,13 @@ public enum VIEW_MODE
     /// </remarks>
     public enum ERROR_CODE
     {
+        /// <summary>
+        /// The image could be corrupted, Enabled with the parameter InitParameters::enableImageValidityCheck.
+        /// </summary>
+        CORRUPTED_FRAME = -2,
+        /// <summary>
+        /// The camera is currently rebooting.
+        /// </summary>
         CAMERA_REBOOTING = -1,
         /// <summary>
         /// Operation was successful.
@@ -1131,6 +1138,7 @@ public enum VIEW
 
     /// <summary>
     ///  Lists available camera settings for the ZED camera (contrast, hue, saturation, gain, etc.)
+    ///  The settings specific for GMSL cameras are currently not supported.
     /// </summary>
     public enum CAMERA_SETTINGS
     {
@@ -1364,6 +1372,25 @@ public enum POSTIONAL_TRACKING_MODE
         QUALITY
     }
 
+    /// <summary>
+    /// Lists the mode of positional tracking that can be used.
+    /// </summary>
+    public enum REGION_OF_INTEREST_AUTO_DETECTION_STATE
+    {
+        /// <summary>
+        ///  The region of interest auto detection is initializing.
+        /// </summary>
+        RUNNING,
+        /// <summary>
+        ///  The region of interest mask is ready, if auto_apply was enabled, the region of interest mask is being used.
+        /// </summary>
+        READY,
+        /// <summary>
+        ///  The region of interest auto detection is not enabled.
+        /// </summary>
+        ENABLED,
+    }
+
     /// <summary>
     /// SVO compression modes.
     /// </summary>
@@ -1660,6 +1687,15 @@ public class InitParameters
         /// </summary>
         public float grabComputeCappingFPS = 0f;
 
+        /// <summary>
+        ///  Enable or disable the image validity verification.
+        ///  This will perform additional verification on the image to identify corrupted data. This verification is done in the grab function and requires some computations.
+        ///  If an issue is found, the grab function will output a warning as sl::ERROR_CODE::CORRUPTED_FRAME.
+        ///  This version doesn't detect frame tearing currently.
+        ///  \n default: disabled
+        /// </summary>
+        public bool enableImageValidityCheck = false;
+
         /// <summary>
         /// Constructor. Sets default initialization parameters recommended for Unity.
         /// </summary>
@@ -1693,6 +1729,7 @@ public InitParameters()
             this.openTimeoutSec = 5.0f;
             this.asyncGrabCameraRecovery = false;
             this.grabComputeCappingFPS = 0f;
+            this.enableImageValidityCheck = false;
         }
     }