push to 4.0.4 (#259)

* ignore wrapper if in folder * remove body 70 & add skeleton smoothing & add warning when no animator * change plugin version to 4.0.4 * add positional tracking mode parameter * add positional tracking mode in zedmanager inspector * fix opencv sample * change default aruco in opencv scene * readd body 70 * update linux lib * add default constructor to Rect struct --------- Co-authored-by: Jean-Loup Macarit <jeanloup.macarit@stereolabs.com>
stereolabs · Jun 27, 2023 · 3c3d4a7 · 3c3d4a7
1 parent b25cf15
commit 3c3d4a7
Show file tree

Hide file tree

Showing 13 changed files with 284 additions and 345 deletions.
diff --git a/.gitignore b/.gitignore
@@ -4,6 +4,7 @@
 [Bb]uild/
 [Bb]uilds/
 Assets/AssetStoreTools*
+unity-wrapper/
 
 # Visual Studio cache directory
 .vs/

diff --git a/ZEDCamera/Assets/ZED/Editor/Scripts/ZEDCameraEditor.cs b/ZEDCamera/Assets/ZED/Editor/Scripts/ZEDCameraEditor.cs
@@ -51,6 +51,7 @@ public class ZEDCameraEditor : Editor
     private SerializedProperty pathSMProperty;
     private SerializedProperty floorAsOriginProperty;
     private SerializedProperty trackingIsStaticProperty;
+    private SerializedProperty positionalTrackingModeProperty;
 
     //Rendering Prop
     private SerializedProperty depthOcclusionProperty;
@@ -147,6 +148,7 @@ public class ZEDCameraEditor : Editor
     // runtime params
     private SerializedProperty BT_Confidence;
     private SerializedProperty BT_MinimumKPThresh;
+    private SerializedProperty BT_SkSmoothing;
 
     /// <summary>
     /// Layout option used to draw the '...' button for opening a File Explorer window to find a mesh file.
@@ -259,6 +261,7 @@ private void OnEnable()
         pathSMProperty = serializedObject.FindProperty("pathSpatialMemory");
         floorAsOriginProperty = serializedObject.FindProperty("setFloorAsOrigin");
         trackingIsStaticProperty = serializedObject.FindProperty("trackingIsStatic");
+        positionalTrackingModeProperty = serializedObject.FindProperty("positionalTrackingMode");
 
 
         ///Rendering Serialized Properties
@@ -317,6 +320,7 @@ private void OnEnable()
         BT_BodySelection = serializedObject.FindProperty("bodySelection");
 
         BT_Confidence = serializedObject.FindProperty("bodyTrackingConfidenceThreshold");
+        BT_SkSmoothing = serializedObject.FindProperty("bodyTrackingSkeletonSmoothing");
         //Recording Serialized Properties
         svoOutputFileNameProperty = serializedObject.FindProperty("svoOutputFileName");
         svoOutputCompressionModeProperty = serializedObject.FindProperty("svoOutputCompressionMode");
@@ -593,6 +597,8 @@ public override void OnInspectorGUI()
             "Can be useful for stationary cameras where you still need tracking enabled, such as in Object Detection.");
         trackingIsStaticProperty.boolValue = EditorGUILayout.Toggle(trackingIsStaticPropertyLabel, trackingIsStaticProperty.boolValue);
 
+        GUIContent positionalTrackingModePropertyLabel = new GUIContent("Positional Tracking Mode", "Lists the mode of positional tracking that can be used.");
+        positionalTrackingModeProperty.enumValueIndex = (int)(sl.POSTIONAL_TRACKING_MODE)EditorGUILayout.EnumPopup(positionalTrackingModePropertyLabel, (sl.POSTIONAL_TRACKING_MODE)positionalTrackingModeProperty.enumValueIndex);
 
         EditorGUI.indentLevel--;
 
@@ -1016,6 +1022,9 @@ public override void OnInspectorGUI()
             "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.");
             BT_Confidence.intValue = EditorGUILayout.IntSlider(BodyTrackingConfidenceLabel, BT_Confidence.intValue, 1, 99);
 
+            GUIContent BT_SkSmoothingLabel = new GUIContent("Skeleton Smoothing", "From 0 (no smoothing) to 1 (max smoothing), amount of smoothing applied to the skeleton data during the fitting. Higher values will have more latency, but less jitter.");
+            BT_SkSmoothing.floatValue = EditorGUILayout.Slider(BT_SkSmoothingLabel, BT_SkSmoothing.floatValue, 0, 1.0f);
+
             GUI.enabled = cameraIsReady;
 
             GUILayout.Space(10);

diff --git a/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingMulti.unity b/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingMulti.unity
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
@@ -161,6 +161,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -214,6 +215,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 0.1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 1380222653}
   m_RootOrder: 0
@@ -273,6 +275,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: -4.2, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 2010391085}
   m_Father: {fileID: 0}
@@ -316,6 +319,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -369,6 +373,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 0.1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 599479602}
   m_RootOrder: 0
@@ -380,7 +385,7 @@ LightingSettings:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_Name: Settings.lighting
-  serializedVersion: 3
+  serializedVersion: 4
   m_GIWorkflowMode: 0
   m_EnableBakedLightmaps: 1
   m_EnableRealtimeLightmaps: 1
@@ -393,7 +398,7 @@ LightingSettings:
   m_LightmapMaxSize: 1024
   m_BakeResolution: 40
   m_Padding: 2
-  m_TextureCompression: 1
+  m_LightmapCompression: 3
   m_AO: 0
   m_AOMaxDistance: 1
   m_CompAOExponent: 1
@@ -434,10 +439,10 @@ LightingSettings:
   m_PVRFilteringAtrousPositionSigmaDirect: 0.5
   m_PVRFilteringAtrousPositionSigmaIndirect: 2
   m_PVRFilteringAtrousPositionSigmaAO: 1
+  m_PVRTiledBaking: 0
 --- !u!114 &407337776 stripped
 MonoBehaviour:
-  m_CorrespondingSourceObject: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
-    type: 3}
+  m_CorrespondingSourceObject: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
   m_PrefabInstance: {fileID: 883453435}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 0}
@@ -501,6 +506,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: -3.15, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 126909665}
   m_Father: {fileID: 0}
@@ -534,6 +540,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: -0.0008588135, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 1094516502}
   m_Father: {fileID: 0}
@@ -657,6 +664,7 @@ RectTransform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 0, y: 0, z: 0}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 1436819744}
   m_Father: {fileID: 0}
@@ -711,7 +719,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   imageRetriever: {fileID: 859701131}
   markerWidthMeters: 0.175
-  markerDictionary: 9
+  markerDictionary: 0
 --- !u!4 &857114140
 Transform:
   m_ObjectHideFlags: 0
@@ -722,6 +730,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 0}
   m_RootOrder: 3
@@ -766,6 +775,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: -0.46380258, y: 0.45984256, z: 3.7793646}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 0}
   m_RootOrder: 2
@@ -809,13 +819,11 @@ PrefabInstance:
       propertyPath: m_LocalRotation.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
-        type: 3}
+    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
       propertyPath: showarrig
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac,
-        type: 3}
+    - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3}
       propertyPath: advancedPanelOpen
       value: 1
       objectReference: {fileID: 0}
@@ -850,6 +858,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 0.1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 757982340}
   m_RootOrder: 0
@@ -865,6 +874,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -971,6 +981,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: -2.1, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 81208245}
   m_Father: {fileID: 0}
@@ -1004,6 +1015,7 @@ RectTransform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 771887902}
   m_RootOrder: 0
@@ -1145,6 +1157,7 @@ Transform:
   m_LocalRotation: {x: 0.40821788, y: -0.23456968, z: 0.10938163, w: 0.8754261}
   m_LocalPosition: {x: 0, y: 3, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 0}
   m_RootOrder: 0
@@ -1187,6 +1200,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -1240,6 +1254,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 0.1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 98179969}
   m_RootOrder: 0
@@ -1282,6 +1297,7 @@ MeshRenderer:
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
+  m_StaticShadowCaster: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
@@ -1335,6 +1351,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 0.1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 2101091372}
   m_RootOrder: 0
@@ -1369,6 +1386,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 4f231c4fb786f3946a6b90b886c48677, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  m_SendPointerHoverToParent: 1
   m_HorizontalAxis: Horizontal
   m_VerticalAxis: Vertical
   m_SubmitButton: Submit
@@ -1401,6 +1419,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 0}
   m_RootOrder: 10
@@ -1460,6 +1479,7 @@ Transform:
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: -1.05, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 2035212747}
   m_Father: {fileID: 0}

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
@@ -214,7 +214,8 @@ private void DeployGrabbedEvent(Camera cam, ref ZEDMat zedmat, VIEW view, ZEDMat
             Mat buffermat = GetOpenCVBufferMat(zedCam.ImageHeight, zedCam.ImageWidth, SLMatType2CVMatType(mattype));
 
             //copyToMat(zedmat.GetPtr(), cvMat);
-            MatUtils.copyFromMat(buffermat, zedmat.GetPtr());
+            //MatUtils.copyFromMat(buffermat, zedmat.GetPtr());
+            MatUtils.copyToMat(zedmat.GetPtr(), buffermat);
 
             ConvertColorSpace(buffermat, ref cvMat, conversionatend); 
             //Mat convertedmat = ConvertColorSpace(buffermat, conversionatend); 

diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/SkeletonHandler.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/SkeletonHandler.cs
@@ -871,7 +871,7 @@ private void UpdateCurrentValues(sl.BODY_FORMAT pBodyFormat)
                 currentKeypointsCount = JointType_70_COUNT;
                 break;
             default:
-                Debug.LogError("Error: Invalid BODY_MODEL! Please use either BODY_34, BODY_38 or BODY_70.");
+                Debug.LogError("Error: Invalid BODY_MODEL! Please use either BODY_34 or BODY_38.");
 #if UNITY_EDITOR
                 EditorApplication.ExitPlaymode();
 #else
@@ -1074,9 +1074,10 @@ public void InitSkeleton(int person_id, Material skBaseMat)
             //sphere.layer = LayerMask.NameToLayer("tagInvisibleToZED");
             sphere.GetComponent<Renderer>().material = skBaseMat;
             skBaseMat.color = color;
-            sphere.transform.localScale = (BodyFormat == sl.BODY_FORMAT.BODY_70 && j >= JointType_70_LEFT_HAND_THUMB_1) 
+            sphere.transform.localScale = (BodyFormat == sl.BODY_FORMAT.BODY_70 && j >= JointType_70_LEFT_HAND_THUMB_1)
                 ? new Vector3(width, width, width)
                 : new Vector3(width * 2, width * 2, width * 2);
+            //sphere.transform.localScale = new Vector3(width * 2, width * 2, width * 2);
             sphere.transform.parent = skeleton.transform;
             sphere.name = currentSpheresList[j].ToString();
             spheres[j] = sphere;
@@ -1119,10 +1120,11 @@ void UpdateSkeleton(Vector3 offsetSDK, bool mirrorMode = false)
 
             bones[i].SetActive(true);
             Vector3 offset = end - start;
-            // if hands, thinner cylinders
-            Vector3 scale = (BodyFormat == sl.BODY_FORMAT.BODY_70 && i >= 29 )
-                ? new Vector3(width/2f, offset.magnitude / 2.0f, width/2f)
+            // if hands Body70, thinner cylinders
+            Vector3 scale = (BodyFormat == sl.BODY_FORMAT.BODY_70 && i >= 29)
+                ? new Vector3(width / 2f, offset.magnitude / 2.0f, width / 2f)
                 : new Vector3(width, offset.magnitude / 2.0f, width);
+            //Vector3 scale = new Vector3(width, offset.magnitude / 2.0f, width);
             Vector3 position = start + (offset / 2.0f);
 
             bones[i].transform.position = position;

diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/ZEDBodyTrackingManager.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/BodyTracking/ZEDBodyTrackingManager.cs
@@ -155,6 +155,11 @@ void Start()
             zedManager = FindObjectOfType<ZEDManager>();
         }
 
+        if(avatar.GetComponent<Animator>().runtimeAnimatorController == null)
+        {
+            Debug.LogWarning("Animator has no animator controller. Animation from ZED plugin will not work.");
+        }
+
 		if (zedManager)
         {
 

diff --git a/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs b/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs
@@ -847,7 +847,7 @@ public bool LoadMesh(string meshFilePath = "ZEDMesh.obj")
         zedCamera.DisableTracking();
         Quaternion quat = Quaternion.identity; Vector3 tr = Vector3.zero;
 
-        if (zedCamera.EnableTracking(ref quat, ref tr, true, false, false, false, true, -1.0f, true, System.IO.File.Exists(basePath + ".area") ? basePath + ".area" : "") != sl.ERROR_CODE.SUCCESS)
+        if (zedCamera.EnableTracking(ref quat, ref tr, true, false, false, false, true, -1.0f, true, sl.POSTIONAL_TRACKING_MODE.STANDARD, System.IO.File.Exists(basePath + ".area") ? basePath + ".area" : "") != sl.ERROR_CODE.SUCCESS)
         {
             Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED));
         }