Merge pull request #299 from stereolabs/v5.0.0

V5.0.0

Author: Bvallon-sl

ZEDCamera/Assets/Editor/Scripts/ZEDCameraEditor.cs

@@ -50,6 +50,7 @@ public class ZEDCameraEditor : Editor
     private SerializedProperty enableSMProperty;
     private SerializedProperty pathSMProperty;
     private SerializedProperty floorAsOriginProperty;
+    private SerializedProperty gravityAsOriginProperty;
     private SerializedProperty trackingIsStaticProperty;
     private SerializedProperty positionalTrackingModeProperty;
 
@@ -262,6 +263,7 @@ private void OnEnable()
         enableSMProperty = serializedObject.FindProperty("enableSpatialMemory");
         pathSMProperty = serializedObject.FindProperty("pathSpatialMemory");
         floorAsOriginProperty = serializedObject.FindProperty("setFloorAsOrigin");
+        gravityAsOriginProperty = serializedObject.FindProperty("setGravityAsOrigin");
         trackingIsStaticProperty = serializedObject.FindProperty("trackingIsStatic");
         positionalTrackingModeProperty = serializedObject.FindProperty("positionalTrackingMode");
 
@@ -597,6 +599,9 @@ public override void OnInspectorGUI()
         GUIContent floorAsOriginPropertyLabel = new GUIContent("Set Floor As Origin", "Estimate initial position by detecting the floor. Leave it false if using VR Headset");
         floorAsOriginProperty.boolValue = EditorGUILayout.Toggle(floorAsOriginPropertyLabel, floorAsOriginProperty.boolValue);
 
+        GUIContent gravityAsOriginPropertyLabel = new GUIContent("Set Gravity As Origin", "Whether to override 2 of the 3 rotations from \ref initial_world_transform using the IMU gravity.");
+        gravityAsOriginProperty.boolValue = EditorGUILayout.Toggle(gravityAsOriginPropertyLabel, gravityAsOriginProperty.boolValue);
+
         GUIContent trackingIsStaticPropertyLabel = new GUIContent("Tracking Is Static", "If true, tracking is enabled but doesn't move after initializing. " +
             "Can be useful for stationary cameras where you still need tracking enabled, such as in Object Detection.");
         trackingIsStaticProperty.boolValue = EditorGUILayout.Toggle(trackingIsStaticPropertyLabel, trackingIsStaticProperty.boolValue);

ZEDCamera/Assets/Prefabs/ZED_Rig_Mono.prefab

@@ -47,10 +47,10 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   cameraID: 0
-  depthMode: 3
+  depthMode: 5
   inputType: 0
-  resolution: 8
-  FPS: 30
+  resolution: 9
+  FPS: -1
   serialNumber: 0
   svoInputFileName: Assets/Recording.svo
   opencvCalibFile: 
@@ -140,7 +140,7 @@ MonoBehaviour:
   fadeInOnStart: 1
   dontDestroyOnLoad: 0
   greySkybox: 1
-  m_confidenceThreshold: 100
+  m_confidenceThreshold: 95
   m_textureConfidenceThreshold: 100
   enableRightDepthMeasure: 0
   showarrig: 0
@@ -179,7 +179,7 @@ MonoBehaviour:
   HMDSyncPosition: {x: 0, y: 0, z: 0}
   ZEDSyncRotation: {x: 0, y: 0, z: 0, w: 0}
   HMDSyncRotation: {x: 0, y: 0, z: 0, w: 0}
-  advancedPanelOpen: 0
+  advancedPanelOpen: 1
   spatialMappingFoldoutOpen: 0
   objectDetectionFoldoutOpen: 1
   bodyTrackingFoldoutOpen: 1

ZEDCamera/Assets/Prefabs/ZED_Rig_Stereo.prefab

@@ -597,10 +597,10 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   cameraID: 0
-  depthMode: 3
+  depthMode: 5
   inputType: 0
-  resolution: 8
-  FPS: 30
+  resolution: 9
+  FPS: -1
   serialNumber: 0
   svoInputFileName: 
   opencvCalibFile: 
@@ -690,7 +690,7 @@ MonoBehaviour:
   fadeInOnStart: 1
   dontDestroyOnLoad: 0
   greySkybox: 1
-  m_confidenceThreshold: 100
+  m_confidenceThreshold: 95
   m_textureConfidenceThreshold: 100
   enableRightDepthMeasure: 0
   showarrig: 0
@@ -729,7 +729,7 @@ MonoBehaviour:
   HMDSyncPosition: {x: 0, y: 0, z: 0}
   ZEDSyncRotation: {x: 0, y: 0, z: 0, w: 0}
   HMDSyncRotation: {x: 0, y: 0, z: 0, w: 0}
-  advancedPanelOpen: 0
+  advancedPanelOpen: 1
   spatialMappingFoldoutOpen: 0
   objectDetectionFoldoutOpen: 0
   bodyTrackingFoldoutOpen: 0

ZEDCamera/Assets/SDK/Helpers/Resources/Materials/PointCloud/Mat_ZED_PointCloud.mat

@@ -87,3 +87,4 @@ Material:
     - _Color: {r: 1, g: 1, b: 1, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
   m_BuildTextureStacks: []
+  m_AllowLocking: 1

ZEDCamera/Assets/SDK/Helpers/Resources/Materials/SpatialMapping/Mat_ZED_Texture.mat

@@ -2,20 +2,25 @@
 %TAG !u! tag:unity3d.com,2011:
 --- !u!21 &2100000
 Material:
-  serializedVersion: 6
+  serializedVersion: 8
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_Name: Mat_ZED_Texture
   m_Shader: {fileID: 4800000, guid: bde3233f98eca534c877a46041c3801f, type: 3}
-  m_ShaderKeywords: _EMISSION
+  m_Parent: {fileID: 0}
+  m_ModifiedSerializedProperties: 0
+  m_ValidKeywords: []
+  m_InvalidKeywords:
+  - _EMISSION
   m_LightmapFlags: 1
   m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
   stringTagMap: {}
   disabledShaderPasses: []
+  m_LockedProperties: 
   m_SavedProperties:
     serializedVersion: 3
     m_TexEnvs:
@@ -55,6 +60,7 @@ Material:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    m_Ints: []
     m_Floats:
     - _BumpScale: 1
     - _Cutoff: 0.5

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

@@ -4,7 +4,9 @@
 using System.Collections;
 using System.Collections.Generic;
 using System;
+#if UNITY_EDITOR
 using UnityEditor;
+#endif
 
 public class SkeletonHandler : ScriptableObject
 {

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

@@ -3,7 +3,6 @@
 using UnityEngine;
 using System.Collections.Generic;
 using System;
-using UnityEditor;
 using System.Collections;
 
 #if ZED_URP

ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDFusedPointCloudRenderer.cs

@@ -109,7 +109,14 @@ private void startMap()
         {
             if (zed != null && notStarted)
             {
-                sl.ERROR_CODE err = zed.EnableSpatialMapping(sl.SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD, resolution, range);
+                SpatialMappingParameters spatialMappingParameters = new SpatialMappingParameters()
+                {
+                    mapType = SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD,
+                    resolutionMeter = resolution,
+                    rangeMeter = range
+                };
+
+                sl.ERROR_CODE err = zed.EnableSpatialMapping(ref spatialMappingParameters);
 
                 if (err == sl.ERROR_CODE.SUCCESS)
                 {

ZEDCamera/Assets/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs

@@ -403,7 +403,15 @@ private sl.ERROR_CODE EnableSpatialMapping(sl.SPATIAL_MAP_TYPE type,RESOLUTION r
         this.isTextured = isTextured;
 
         //Tell the helper to start scanning. This call gets passed directly to the wrapper call in ZEDCamera.
-        error = spatialMappingHelper.EnableSpatialMapping(type,ZEDSpatialMappingHelper.ConvertResolutionPreset(resolutionPreset), ZEDSpatialMappingHelper.ConvertRangePreset(rangePreset), isTextured);
+        sl.SpatialMappingParameters spatialMappingParameters = new sl.SpatialMappingParameters()
+        {
+            mapType = type,
+            resolutionMeter = ZEDSpatialMappingHelper.ConvertResolutionPreset(resolutionPreset),
+            rangeMeter = ZEDSpatialMappingHelper.ConvertRangePreset(rangePreset),
+            saveTexture = isTextured
+        };
+
+        error = spatialMappingHelper.EnableSpatialMapping(ref spatialMappingParameters);
         if (meshRenderer[0]) meshRenderer[0].isTextured = isTextured;
         if (meshRenderer[1]) meshRenderer[1].isTextured = isTextured;
         stopWanted = false;
@@ -1371,9 +1379,9 @@ static public float ConvertResolutionPreset(RESOLUTION resolutionPreset)
         /// </summary>
         /// <returns></returns>
 
-        public sl.ERROR_CODE EnableSpatialMapping(sl.SPATIAL_MAP_TYPE type,float resolutionMeter, float maxRangeMeter, bool saveTexture)
+        public sl.ERROR_CODE EnableSpatialMapping(ref sl.SpatialMappingParameters spatialMappingParameters)
         {
-            return zedCamera.EnableSpatialMapping(type,resolutionMeter, maxRangeMeter, saveTexture);
+            return zedCamera.EnableSpatialMapping(ref spatialMappingParameters);
         }
 
         /// <summary>