diff --git a/.gitignore b/.gitignore index bd8a135a..21db89e4 100644 --- a/.gitignore +++ b/.gitignore @@ -35,6 +35,10 @@ sysinfo.txt *.apk *.unitypackage +ZEDCamera/Assets/XR/ +ZEDCamera/Assets/XRI/ +ZEDCamera/Assets/StreamingAssets/ +ZEDCamera/Assets/OpenCVForUnity/ ZEDCamera/Assets/SteamVR/ ZEDCamera/Assets/Oculus/ ZEDCamera/Assets/Benjamin diff --git a/ZEDCamera/Assets/Editor/Scripts/ZEDPluginInspector.cs b/ZEDCamera/Assets/Editor/Scripts/ZEDPluginInspector.cs index 17525d48..d06d3b73 100644 --- a/ZEDCamera/Assets/Editor/Scripts/ZEDPluginInspector.cs +++ b/ZEDCamera/Assets/Editor/Scripts/ZEDPluginInspector.cs @@ -158,7 +158,10 @@ static void UpdateWnd() if (!sl.ZEDCamera.CheckPlugin()) { - errorMessage = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_DEPENDENCIES_ISSUE); + if (sl.ZEDSDKVersionValidator.ValidationComplete && !sl.ZEDSDKVersionValidator.IsSDKCompatible) + errorMessage = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_VERSION_MISMATCH); + else + errorMessage = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_DEPENDENCIES_ISSUE); showErrorMode = true; window = GetWindow(true); window.maxSize = new Vector2(400, 600); diff --git a/ZEDCamera/Assets/Prefabs/ZED_Rig_Mono.prefab b/ZEDCamera/Assets/Prefabs/ZED_Rig_Mono.prefab index 78a2b4c6..64085262 100644 --- a/ZEDCamera/Assets/Prefabs/ZED_Rig_Mono.prefab +++ b/ZEDCamera/Assets/Prefabs/ZED_Rig_Mono.prefab @@ -49,7 +49,7 @@ MonoBehaviour: cameraID: 0 depthMode: 5 inputType: 0 - resolution: 9 + resolution: 11 FPS: -1 serialNumber: 0 svoInputFileName: Assets/Recording.svo diff --git a/ZEDCamera/Assets/Prefabs/ZED_Rig_Stereo.prefab b/ZEDCamera/Assets/Prefabs/ZED_Rig_Stereo.prefab index f8253868..4bfc608e 100644 --- a/ZEDCamera/Assets/Prefabs/ZED_Rig_Stereo.prefab +++ b/ZEDCamera/Assets/Prefabs/ZED_Rig_Stereo.prefab @@ -614,7 +614,7 @@ MonoBehaviour: cameraID: 0 depthMode: 5 inputType: 0 - resolution: 9 + resolution: 11 FPS: -1 serialNumber: 0 svoInputFileName: diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDPostProcessingTools.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDPostProcessingTools.cs index 2b88999a..e04ab8e2 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDPostProcessingTools.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDPostProcessingTools.cs @@ -99,7 +99,7 @@ public static void Blur(RenderTexture source, RenderTexture dest, Material mat, return; } - RenderTexture buffer = RenderTexture.GetTemporary(source.width / downscale, source.height / downscale, source.depth, source.format, RenderTextureReadWrite.Default); + RenderTexture buffer = RenderTexture.GetTemporary(source.width / downscale, source.height / downscale, 0, source.format, RenderTextureReadWrite.Default); if (mat == null) { @@ -111,7 +111,7 @@ public static void Blur(RenderTexture source, RenderTexture dest, Material mat, bool oddEven = false; //Create two buffers to make a multi-pass blur. - RenderTexture buffer2 = RenderTexture.GetTemporary(source.width / downscale, source.height / downscale, source.depth, source.format, RenderTextureReadWrite.Default); + RenderTexture buffer2 = RenderTexture.GetTemporary(source.width / downscale, source.height / downscale, 0, source.format, RenderTextureReadWrite.Default); Graphics.Blit(source, buffer); diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDRenderingPlane.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDRenderingPlane.cs index 9c773c09..31aaecea 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDRenderingPlane.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/Display/ZEDRenderingPlane.cs @@ -720,7 +720,7 @@ private void SetForward() if (mask == null || !mask.IsCreated()) { - mask = new RenderTexture(Screen.width, Screen.height, 0, RenderTextureFormat.R8); + mask = new RenderTexture(Screen.width, Screen.height, 0, RenderTextureFormat.RHalf); } //Set up the post-processing material. @@ -824,7 +824,7 @@ private void SetDeferred() if (mask == null || !mask.IsCreated()) { - mask = new RenderTexture(Screen.width, Screen.height, 0, RenderTextureFormat.R8); + mask = new RenderTexture(Screen.width, Screen.height, 0, RenderTextureFormat.RHalf); } //Set the post process buffer postProcessBuffer[(int)ZED_RENDERING_MODE.DEFERRED] = new CommandBuffer(); @@ -1408,14 +1408,16 @@ private void OnRenderImage(RenderTexture source, RenderTexture destination) Graphics.Blit(buffer, mask, matComposeMask); ApplyPostProcess(source, destination, bluredMask); - + RenderTexture.ReleaseTemporary(buffer); RenderTexture.ReleaseTemporary(bluredMask); } else //Forward path. { RenderTexture bluredMask = RenderTexture.GetTemporary(mask.width, mask.height, mask.depth, mask.format); + ApplyPostProcess(source, destination, bluredMask); + RenderTexture.ReleaseTemporary(bluredMask); } } @@ -1434,7 +1436,7 @@ private void OnRenderImage(RenderTexture source, RenderTexture destination) /// Mask used to apply blurring effects. private void ApplyPostProcess(RenderTexture source, RenderTexture destination, RenderTexture bluredMask) { - RenderTexture tempDestination = RenderTexture.GetTemporary(source.width, source.height, source.depth, RenderTextureFormat.ARGB32, RenderTextureReadWrite.Default); + RenderTexture tempDestination = RenderTexture.GetTemporary(source.width, source.height, 0, RenderTextureFormat.ARGB32, RenderTextureReadWrite.Default); Graphics.Blit(source, tempDestination, postprocessMaterial); ZEDPostProcessingTools.Blur(mask, bluredMask, blurMaterial, 3, 1, 1); diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs index 863e5ebb..31ff9db1 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/MR/ZEDMixedRealityPlugin.cs @@ -22,7 +22,7 @@ public class ZEDMixedRealityPlugin : MonoBehaviour { #region DLL Calls - const string nameDll = sl.ZEDCommon.NameDLL; + const string nameDll = sl.ZEDCommon.NameDLLUnity; [DllImport(nameDll, EntryPoint = "sl_compute_size_plane_with_gamma")] private static extern System.IntPtr dllz_compute_size_plane_with_gamma(int width, int height, float perceptionDistance, float eyeToZedDistance, float planeDistance, float HMDFocal, float zedFocal); diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs index 5e701d82..15a8a6d2 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs @@ -119,8 +119,8 @@ public DetectedBody(BodyData bdata, ZEDManager viewingmanager, Vector3 campos, Q camPositionAtDetection = campos; camRotationAtDetection = camrot; - maskMat = new ZEDMat(bdata.mask); - //maskTexture = ZEDMatToTexture_CPU(maskMat); + if (bdata.mask != IntPtr.Zero) + maskMat = new ZEDMat(bdata.mask); } @@ -290,6 +290,12 @@ public Vector3[] Get3DWorldCorners() /// True if texture was successfully retrieved; false otherwise. public bool GetMaskTexture(out Texture2D masktex, bool fliponYaxis) { + if (maskMat == null) + { + masktex = null; + return false; + } + if (!fliponYaxis) { if (maskTexture == null) @@ -398,7 +404,7 @@ private static Texture2D ZEDMatToTexture_CPU(sl.ZEDMat zedmat, bool flipYcoords } else { - Debug.LogError("Pointer to texture was null - returning null."); + Debug.LogWarning("ZEDMat mask data not available - returning null."); return null; } } diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs index e0ffb8a4..eee93604 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedObject.cs @@ -141,8 +141,8 @@ public DetectedObject(ObjectData odata, ZEDManager viewingmanager, Vector3 campo camPositionAtDetection = campos; camRotationAtDetection = camrot; - maskMat = new ZEDMat(odata.mask); - //maskTexture = ZEDMatToTexture_CPU(maskMat); + if (odata.mask != IntPtr.Zero) + maskMat = new ZEDMat(odata.mask); } @@ -312,12 +312,18 @@ public Vector3[] Get3DWorldCorners() /// True if texture was successfully retrieved; false otherwise. public bool GetMaskTexture(out Texture2D masktex, bool fliponYaxis) { + if (maskMat == null) + { + masktex = null; + return false; + } + if (!fliponYaxis) { if (maskTexture == null) { IntPtr maskpointer = maskMat.GetPtr(sl.ZEDMat.MEM.MEM_CPU); - + if (maskpointer != IntPtr.Zero) { maskTexture = ZEDMatToTexture_CPU(maskMat, false); @@ -386,9 +392,10 @@ private static Texture2D ZEDMatToTexture_CPU(sl.ZEDMat zedmat, bool flipYcoords int height = zedmat.GetHeight(); IntPtr maskpointer = zedmat.GetPtr(sl.ZEDMat.MEM.MEM_CPU); - if (maskpointer != IntPtr.Zero && zedmat.IsInit() && width > 0 && height > 0) + int stepBytes = zedmat.GetStepBytes(); + if (maskpointer != IntPtr.Zero && zedmat.IsInit() && width > 0 && height > 0 && stepBytes > 0) { - byte[] texbytes = new byte[zedmat.GetStepBytes() * height]; + byte[] texbytes = new byte[stepBytes * height]; System.Runtime.InteropServices.Marshal.Copy(maskpointer, texbytes, 0, texbytes.Length); if (flipYcoords) @@ -412,7 +419,7 @@ private static Texture2D ZEDMatToTexture_CPU(sl.ZEDMat zedmat, bool flipYcoords } else { - //Debug.LogError("Pointer to texture was null - returning null."); + Debug.LogWarning("ZEDMat mask data not available - returning null."); return null; } } diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs index dd9c1650..6406326f 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/SpatialMapping/ZEDSpatialMapping.cs @@ -852,7 +852,23 @@ 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, sl.POSITIONAL_TRACKING_MODE.GEN_1, false, false, System.IO.File.Exists(basePath + ".area") ? basePath + ".area" : "") != sl.ERROR_CODE.SUCCESS) + sl.PositionalTrackingParameters positionalTrackingParameters = new sl.PositionalTrackingParameters() + { + enableIMUFusion = true, + enableAreaMemory = true, + mode = sl.POSITIONAL_TRACKING_MODE.GEN_1, + InitialWorldPosition = tr, + InitialWorldRotation = quat, + enablePoseSmoothing = false, + setFloorAsOrigin = false, + setAsStatic = false, + depthMinRange = -1.0f, + setGravityAsOrigin = true, + enableLocalizationOnly = false, + enable2DGroundMode = false + }; + + if (zedCamera.EnableTracking(ref positionalTrackingParameters, System.IO.File.Exists(basePath + ".area") ? basePath + ".area" : "") != sl.ERROR_CODE.SUCCESS) { Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED)); } diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/GUIMessage.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/GUIMessage.cs index 44831bad..c59af1e4 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/GUIMessage.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/GUIMessage.cs @@ -121,7 +121,10 @@ private void Awake() if (!sl.ZEDCamera.CheckPlugin()) { - textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED); + if (sl.ZEDSDKVersionValidator.ValidationComplete && !sl.ZEDSDKVersionValidator.IsSDKCompatible) + textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_VERSION_MISMATCH); + else + textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED); } imagemono = warningmono.transform.GetChild(0).GetChild(1).gameObject; imagemono.transform.parent.gameObject.SetActive(true); @@ -149,10 +152,13 @@ private void Awake() imageright = warningright.transform.GetChild(0).GetChild(1).gameObject; imageright.transform.parent.gameObject.SetActive(true); - if (!sl.ZEDCamera.CheckPlugin()) //Warn the use there's no SDK installed. + if (!sl.ZEDCamera.CheckPlugin()) { - textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED); - textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED); + var err = (sl.ZEDSDKVersionValidator.ValidationComplete && !sl.ZEDSDKVersionValidator.IsSDKCompatible) + ? ZEDLogMessage.ERROR.SDK_VERSION_MISMATCH + : ZEDLogMessage.ERROR.SDK_NOT_INSTALLED; + textleft.text = ZEDLogMessage.Error2Str(err); + textright.text = ZEDLogMessage.Error2Str(err); } ready = false; diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDDefineHandler.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDDefineHandler.cs index ba13091f..adc033d2 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDDefineHandler.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDDefineHandler.cs @@ -1,107 +1,83 @@ -using System.Collections; -using System.Collections.Generic; - -using UnityEngine; - -#if UNITY_EDITOR +#if UNITY_EDITOR +using System.Collections.Generic; +using System.Linq; using UnityEditor; -using UnityEditor.PackageManager; -using UnityEditor.PackageManager.Requests; - +using UnityEditor.Build; +using UnityEngine; /// -/// Manages the various compiler defines that the ZED Unity plugin uses to enable and disable features that are dependent on specific packages. -/// This includes the SteamVR and Oculus plugins (for controller interaction) and OpenCV for Unity (for ArUco detection). +/// Manages compiler defines for optional ZED plugin dependencies (e.g. OpenCV for Unity). +/// Runs on domain reload and after asset changes to keep defines in sync. /// [InitializeOnLoad] public class ZEDDefineHandler : AssetPostprocessor { + const string OpenCVAssemblyName = "opencvforunity"; + const string OpenCVDefine = "ZED_OPENCV_FOR_UNITY"; + static ZEDDefineHandler() - { + { + UpdateDefines(); } static void OnPostprocessAllAssets(string[] importedAssets, string[] deletedAssets, string[] movedAssets, string[] movedFromAssetPaths) { + UpdateDefines(); + } -#region OpenCV - string opencvfilename = "opencvforunity.dll"; - opencvfilename = "opencvforunity"; - - - //if(EditorPrefs.GetBool("ZEDOpenCV") == false && CheckPackageExists(opencvfilename)) - if (CheckPackageExists(opencvfilename)) - { - ActivateDefine("ZEDOpenCV", "ZED_OPENCV_FOR_UNITY"); - } + static void UpdateDefines() + { + if (IsAssemblyLoaded(OpenCVAssemblyName)) + AddDefine(OpenCVDefine); else - { - DeactivateDefine("ZEDOpenCV", "ZED_OPENCV_FOR_UNITY"); - } - -#endregion + RemoveDefine(OpenCVDefine); } - /// - /// Finds if a folder in the project exists with the specified name. - /// Used to check if a plugin has been imported, as the relevant plugins are placed - /// in a folder named after the package. Example: "Assets/Oculus". - /// - /// Package name. - /// - public static bool CheckPackageExists(string name) + static bool IsAssemblyLoaded(string name) { - string[] packages = AssetDatabase.FindAssets(name); - return packages.Length != 0; + var assemblies = System.AppDomain.CurrentDomain.GetAssemblies(); + foreach (var assembly in assemblies) + { + if (assembly.GetName().Name.Equals(name, System.StringComparison.OrdinalIgnoreCase)) + return true; + } + return false; } - /// - /// Activates a define tag in the project. Used to enable compiling sections of scripts with that tag enabled. - /// For instance, parts of this script under a #if ZED_STEAM_VR statement will be ignored by the compiler unless ZED_STEAM_VR is enabled. - /// - public static void ActivateDefine(string packageName, string defineName) + static void AddDefine(string define) { - EditorPrefs.SetBool(packageName, true); - string defines = PlayerSettings.GetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone); - if (defines.Length != 0) + var defines = GetDefines(); + if (!defines.Contains(define)) { - if (!defines.Contains(defineName)) - { - defines += ";" + defineName; - } + defines.Add(define); + SetDefines(defines); } - else + } + + static void RemoveDefine(string define) + { + var defines = GetDefines(); + if (defines.Contains(define)) { - if (!defines.Contains(defineName)) - { - defines += defineName; - } + defines.Remove(define); + SetDefines(defines); } - PlayerSettings.SetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone, defines); } - /// - /// Removes a define tag from the project. - /// Called whenever a package is checked for but not found. - /// Removing the define tags will prevent compilation of code marked with that tag, like #if ZED_OCULUS. - /// - public static void DeactivateDefine(string packagename, string defineName) + static List GetDefines() { - EditorPrefs.SetBool(packagename, false); - string defines = PlayerSettings.GetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone); - if (defines.Length != 0) - { - if (defineName != null && defines.Contains(defineName)) - { - defines = defines.Remove(defines.IndexOf(defineName), defineName.Length); + var target = EditorUserBuildSettings.activeBuildTarget; + var buildTargetGroup = BuildPipeline.GetBuildTargetGroup(target); + var defines = PlayerSettings.GetScriptingDefineSymbols(NamedBuildTarget.FromBuildTargetGroup(buildTargetGroup)); + return defines.Split(';').Where(d => !string.IsNullOrEmpty(d)).ToList(); + } - if (defines.LastIndexOf(";") == defines.Length - 1 && defines.Length != 0) - { - defines.Remove(defines.LastIndexOf(";"), 1); - } - } - } - PlayerSettings.SetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone, defines); + static void SetDefines(List definesList) + { + var target = EditorUserBuildSettings.activeBuildTarget; + var buildTargetGroup = BuildPipeline.GetBuildTargetGroup(target); + PlayerSettings.SetScriptingDefineSymbols(NamedBuildTarget.FromBuildTargetGroup(buildTargetGroup), string.Join(";", definesList)); } } diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDLogMessage.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDLogMessage.cs index 29175055..bda4656c 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDLogMessage.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/Utilities/ZEDLogMessage.cs @@ -104,6 +104,10 @@ public enum ERROR /// The ZED SDK is installed but it's not the version the Unity plugin requires. /// INCORRECT_ZED_SDK_VERSION, + /// + /// The installed ZED SDK major.minor version doesn't match the plugin. Detected via filesystem before loading DLLs. + /// + SDK_VERSION_MISMATCH, /// /// The SDK has a missing dependency. /// @@ -185,6 +189,9 @@ static public string Error2Str(ERROR error) case ERROR.SDK_NOT_INSTALLED: return "ZED SDK not installed"; + case ERROR.SDK_VERSION_MISMATCH: + return sl.ZEDSDKVersionValidator.DetailedMessage; + case ERROR.SDK_DEPENDENCIES_ISSUE: return "The ZED plugin cannot be loaded. \n Please check that you have ZED SDK "+ zed_sdk_version +" installed" + "\n\n If the problem persists, please contact our support team at support@stereolabs.com\n"; diff --git a/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs b/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs index eb6e27ad..314c87e7 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs +++ b/ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs @@ -1434,12 +1434,6 @@ public bool IsNewFrameGrabbed [HideInInspector] public sl.ERROR_CODE ZEDGrabError = sl.ERROR_CODE.FAILURE; -#if UNITY_EDITOR - /// - /// The engine FPS, updated every frame. - /// - private float fps_engine = 90.0f; -#endif /// /// Recording state /// @@ -1952,18 +1946,14 @@ public void Destroy() StopBodyTracking(); } - // Unblock native Grab() call so the grab thread can exit - if (zedCamera != null) - { - zedCamera.Close(); - } - + // Stop the opening thread BEFORE closing the camera to avoid a race condition + // where zedCamera.Close() deletes the native handle while sl::Camera::open() is + // still running on the background thread and dereferencing it. if (threadOpening != null) { - initQuittingHandle.Reset(); forceCloseInit = true; initQuittingHandle.Set(); - if (!threadOpening.Join(5000)) + if (!threadOpening.Join(10000)) Debug.LogWarning("[ZEDManager] Opening thread did not exit in time."); threadOpening = null; } @@ -1975,6 +1965,12 @@ public void Destroy() threadGrab = null; } + // Safe to close now, all threads have exited. + if (zedCamera != null) + { + zedCamera.Destroy(); + } + zedCamera = null; Thread.Sleep(10); @@ -2123,8 +2119,15 @@ void Awake() bool res = zedCamera.CreateCamera((int)cameraID, wrapperVerbose); if (!res) { - Debug.LogError("ZEDManager on " + gameObject.name + " couldn't connect to camera: " + cameraID + - ". Check if another ZEDManager is already connected."); + if (sl.ZEDSDKVersionValidator.ValidationComplete && !sl.ZEDSDKVersionValidator.IsSDKCompatible) + { + Debug.LogError("[ZEDManager] " + sl.ZEDSDKVersionValidator.DetailedMessage); + } + else + { + Debug.LogError("ZEDManager on " + gameObject.name + " couldn't connect to camera: " + cameraID + + ". Check if another ZEDManager is already connected."); + } this.gameObject.SetActive(false); return; } @@ -2290,6 +2293,7 @@ private System.Collections.IEnumerator InitZED() { threadOpening.Join(); + zedCamera.InitTextures((int)initParameters.depthMode); //Initialize the tracking thread, AR initial transforms and SVO read/write as needed. ZEDReady(); @@ -2684,9 +2688,22 @@ void EnableTrackingThreaded() pathSpatialMemory = ""; } - sl.ERROR_CODE err = (zedCamera.EnableTracking(ref zedOrientation, ref zedPosition, enableSpatialMemory, - enablePoseSmoothing, setFloorAsOrigin, trackingIsStatic, enableIMUFusion, depthMinRange, setGravityAsOrigin, positionalTrackingMode, - enableLocalizationOnly, enable2DGroundMode, pathSpatialMemory)); + PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters() + { + InitialWorldPosition = zedPosition, + InitialWorldRotation = zedOrientation, + enableAreaMemory = enableSpatialMemory, + setFloorAsOrigin = setFloorAsOrigin, + enablePoseSmoothing = enablePoseSmoothing, + setAsStatic = trackingIsStatic, + enableIMUFusion = enableIMUFusion, + depthMinRange = depthMinRange, + setGravityAsOrigin = setGravityAsOrigin, + enableLocalizationOnly = enableLocalizationOnly, + enable2DGroundMode = enable2DGroundMode + }; + + sl.ERROR_CODE err = zedCamera.EnableTracking(ref positionalTrackingParameters); //Now enable the tracking with the proper parameters. if (!(enableTracking = (err == sl.ERROR_CODE.SUCCESS))) @@ -2896,16 +2913,9 @@ void Update() /// If in Unity Editor, update the ZEDManager status list #if UNITY_EDITOR - //Update strings used for di splaying stats in the Inspector. + //Update strings used for displaying stats in the Inspector. if (zedCamera != null) { - float frame_drop_count = zedCamera.GetFrameDroppedPercent(); - float CurrentTickFPS = 1.0f / Time.deltaTime; - fps_engine = (fps_engine + CurrentTickFPS) / 2.0f; - engineFPS = fps_engine.ToString("F0") + " FPS"; - if (frame_drop_count > 30 && fps_engine < 45) - engineFPS += "WARNING: Low engine framerate detected"; - if (isZEDTracked) trackingState = ZEDTrackingState.ToString(); else if (ZEDSupportFunctions.hasXRDevice() && isStereoRig) @@ -3283,8 +3293,11 @@ private void RetrieveObjectDetectionFrame() //Release memory from masks. for (int i = 0; i < objects.nbObjects; i++) { - sl.ZEDMat oldmat = new sl.ZEDMat(objects.objectList[i].mask); - oldmat.Free(); + if (objects.objectList[i].mask != IntPtr.Zero) + { + sl.ZEDMat oldmat = new sl.ZEDMat(objects.objectList[i].mask); + oldmat.Free(); + } } } @@ -3490,8 +3503,11 @@ private void RetrieveBodyTrackingFrame() //Release memory from masks. for (int i = 0; i < bodies.nbBodies; i++) { - sl.ZEDMat oldmat = new sl.ZEDMat(bodies.bodyList[i].mask); - oldmat.Free(); + if (bodies.bodyList[i].mask != IntPtr.Zero) + { + sl.ZEDMat oldmat = new sl.ZEDMat(bodies.bodyList[i].mask); + oldmat.Free(); + } } } @@ -3893,9 +3909,22 @@ void OnValidate() // If tracking has been switched on if (zedCamera.IsCameraReady && !isTrackingEnable && enableTracking) { + PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters() + { + InitialWorldPosition = zedPosition, + InitialWorldRotation = zedOrientation, + enableAreaMemory = enableSpatialMemory, + setFloorAsOrigin = setFloorAsOrigin, + setAsStatic = trackingIsStatic, + enableIMUFusion = enableIMUFusion, + depthMinRange = depthMinRange, + setGravityAsOrigin = setGravityAsOrigin, + enableLocalizationOnly = enableLocalizationOnly, + enable2DGroundMode = enable2DGroundMode + }; + //Enables tracking and initializes the first position of the camera. - if (!(enableTracking = (zedCamera.EnableTracking(ref zedOrientation, ref zedPosition, enableSpatialMemory, enablePoseSmoothing, setFloorAsOrigin, trackingIsStatic, - enableIMUFusion, depthMinRange, setGravityAsOrigin, positionalTrackingMode, enableLocalizationOnly, enable2DGroundMode, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS))) + if (!(enableTracking = zedCamera.EnableTracking(ref positionalTrackingParameters) == sl.ERROR_CODE.SUCCESS)) { isZEDTracked = false; throw new Exception(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED)); diff --git a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader index ad041be8..d70d0d0f 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader +++ b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Deferred.shader @@ -62,9 +62,9 @@ Properties v2f vert (v2f v) { v2f o; -#if SHADER_API_D3D11 +#if SHADER_API_D3D11 || SHADER_API_D3D12 o.pos = float4(v.pos.x*2.0, v.pos.y*2.0, 0, 1); -#elif SHADER_API_GLCORE +#elif SHADER_API_GLCORE o.pos = float4(v.pos.x*2.0, -v.pos.y*2.0, 0, 1); #elif SHADER_API_VULKAN o.pos = float4(v.pos.x * 2.0, -v.pos.y * 2.0, 0, 1); @@ -122,9 +122,9 @@ Properties outDepth = 0; #ifdef NO_DEPTH - #if SHADER_API_D3D11 + #if SHADER_API_D3D11 || SHADER_API_D3D12 outDepth = 0; - #elif SHADER_API_GLCORE + #elif SHADER_API_GLCORE outDepth = 1000;//fake infinite depth #elif SHADER_API_VULCAN outDepth = 0; diff --git a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward.shader b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward.shader index b4cbb457..1f7fbd07 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward.shader +++ b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward.shader @@ -51,9 +51,9 @@ Shader "ZED/ZED Forward" v2f vert (float3 v : POSITION) { v2f o; -#if SHADER_API_D3D11 +#if SHADER_API_D3D11 || SHADER_API_D3D12 o.pos = float4(v.x*2.0,v.y*2.0,0,1); -#elif SHADER_API_GLCORE +#elif SHADER_API_GLCORE o.pos = float4(v.x*2.0, -v.y*2.0, 0, 1); #elif SHADER_API_VULKAN o.pos = float4(v.x * 2.0, -v.y * 2.0, 0, 1); diff --git a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting.shader b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting.shader index 828db2ca..43de1b36 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting.shader +++ b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting.shader @@ -116,9 +116,9 @@ } #ifdef NO_DEPTH - #if SHADER_API_D3D11 + #if SHADER_API_D3D11 || SHADER_API_D3D12 outDepth = 0; - #elif SHADER_API_GLCORE + #elif SHADER_API_GLCORE outDepth = 1000;//fake infinite depth #elif SHADER_API_VULKAN outDepth = 0; diff --git a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting_URP.shader b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting_URP.shader index d44dff15..76f0e450 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting_URP.shader +++ b/ZEDCamera/Assets/SDK/Helpers/Shaders/Lighting/ZED_Forward_Lighting_URP.shader @@ -112,9 +112,9 @@ Shader "ZED/ZED Forward Lighting URP" } //ZED Depth #ifdef NO_DEPTH - #if SHADER_API_D3D11 + #if SHADER_API_D3D11 || SHADER_API_D3D12 outDepth = 0; - #elif SHADER_API_GLCORE + #elif SHADER_API_GLCORE outDepth = 1000;//fake infinite depth #elif SHADER_API_VULKAN outDepth = 0; diff --git a/ZEDCamera/Assets/SDK/Helpers/Shaders/PostProcessing/ZED_Post-Processing.shader b/ZEDCamera/Assets/SDK/Helpers/Shaders/PostProcessing/ZED_Post-Processing.shader index e142726d..b5c5c8b8 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Shaders/PostProcessing/ZED_Post-Processing.shader +++ b/ZEDCamera/Assets/SDK/Helpers/Shaders/PostProcessing/ZED_Post-Processing.shader @@ -5,6 +5,8 @@ Shader "ZED/ZED Post-Processing" { { _MainTex("Texture", 2D) = "white" {} _MinBlack("Min black threshold", Range(0,1)) = 0.01 + _gamma("Gamma", Float) = 1.277 + _NoiseSize("Noise Size", Int) = 2 } SubShader { @@ -61,43 +63,31 @@ Shader "ZED/ZED Post-Processing" { //Fragment Shader float4 frag(v2f i) : SV_Target{ - float2 invertUV = i.uv; - invertUV.y = 1 - i.uv.y; - float mask = tex2D(ZEDMaskPostProcess, i.uv); - + float mask = tex2D(ZEDMaskPostProcess, i.uv).r; float4 zed = tex2D(_MainTex, i.uv); if (mask > 0.9f) { - - //zed = (zed * 0.187) / (1.035 - zed); - float SqrtPixel = sqrt(zed.r * zed.r + zed.g * zed.g + zed.b * zed.b); - + float4 res = pow(saturate(zed), _gamma); + float3 NoiseFactors = 2; - float2 random = _Time.x*_NoiseSize*floor(i.uv / _MainTex_TexelSize.xy / _NoiseSize) / 3.; - float3 NoiseValue = float3(rand(random), - rand(random), + float2 random = _Time.x * max(_NoiseSize, 1) * floor(i.uv / _MainTex_TexelSize.xy / max(_NoiseSize, 1)) / 3.; + float3 NoiseValue = float3(rand(random), + rand(random), rand(random)); - float4 res = pow(zed, _gamma); - - res.r += (NoiseFactors.r * NoiseValue.r - NoiseFactors.r * 0.5) / 255; res.g += (NoiseFactors.g * NoiseValue.g - NoiseFactors.g * 0.5) / 255; res.b += (NoiseFactors.b * NoiseValue.b - NoiseFactors.b * 0.5) / 255; - - //res = res / (res + 0.187) * 1.035; + res.a = 1.0f; - //res *= mask; #if UNITY_COLORSPACE_GAMMA return clamp(res, _MinBlack, 1.0f); #else return clamp(res, GammaToLinearSpaceExact(_MinBlack), 1.0f); #endif - } - return zed; - + return float4(zed.rgb, 1); } ENDCG } diff --git a/ZEDCamera/Assets/SDK/Helpers/Shaders/ZED_Utils.cginc b/ZEDCamera/Assets/SDK/Helpers/Shaders/ZED_Utils.cginc index b2ca86cd..a11a53ec 100644 --- a/ZEDCamera/Assets/SDK/Helpers/Shaders/ZED_Utils.cginc +++ b/ZEDCamera/Assets/SDK/Helpers/Shaders/ZED_Utils.cginc @@ -40,9 +40,9 @@ float computeDepthXYZ(float3 colorXYZ) { colorXYZ = clamp(colorXYZ, 0.01, 20); //reverse Y and Z axes colorXYZ.b = -colorXYZ.b; -#if SHADER_API_D3D11 +#if SHADER_API_D3D11 || SHADER_API_D3D12 colorXYZ.g = -colorXYZ.g; -#elif SHADER_API_GLCORE +#elif SHADER_API_GLCORE colorXYZ.g = -colorXYZ.g * 2; #elif SHADER_API_VULKAN colorXYZ.g = -colorXYZ.g ; @@ -76,9 +76,9 @@ float computeDepthXYZ(float colorXYZ) { //if (colorXYZ != colorXYZ) return FAR_DEPTH; //Doesn't correctly check for a NaN, and neither does isnan(). //colorXYZ = clamp(colorXYZ, 0.01, 20); -#if SHADER_API_D3D11 +#if SHADER_API_D3D11 || SHADER_API_D3D12 colorXYZ = -colorXYZ; -#elif SHADER_API_GLCORE +#elif SHADER_API_GLCORE //colorXYZ = -colorXYZ * 2 + 1; colorXYZ = -colorXYZ * 2; #elif SHADER_API_VULKAN diff --git a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs index 4bd18912..86d9bd3b 100644 --- a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs +++ b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCamera.cs @@ -10,53 +10,61 @@ namespace sl { public static class NativeWrapper { - private const string LibName = sl.ZEDCamera.nameDll; + [DllImport(sl.ZEDCamera.nameDll, EntryPoint = "sl_get_sdk_version", CallingConvention = CallingConvention.Cdecl)] + private static extern IntPtr sl_get_sdk_version_native(); - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - private delegate int CheckZEDPluginDelegate(int Major, int Minor); + public static bool Init() => true; - private static CheckZEDPluginDelegate _checkZEDPlugin; - - private static bool _initialized = false; - - public static bool IsWrapperLoaded => _initialized; + // sl_get_sdk_version is header-only / inline in the SDK headers, so the version + // it returns is baked into sl_zed_c.dll at compile time. It will always match + // PluginVersion. The real version mismatch detection is in ZEDSDKVersionValidator, + // which reads the installed SDK version from the filesystem without loading any DLL. + // This method's value is as a "can the DLL load at all?" check. + public static int CheckPlugin() + { + if (!ZEDSDKVersionValidator.ValidationComplete) + ZEDSDKVersionValidator.Validate(); - // Import the function directly using DllImport - [DllImport(LibName, CallingConvention = CallingConvention.Cdecl)] - private static extern int sl_check_plugin(int major, int minor); + if (!ZEDSDKVersionValidator.IsSDKCompatible) + { + Debug.LogError($"[NativeWrapper] {ZEDSDKVersionValidator.DetailedMessage}"); + return -1; + } - /// - /// Call this once to initialize the wrapper - /// - public static bool Init() - { try { - // Assign delegate for convenience - _checkZEDPlugin = sl_check_plugin; - _initialized = true; + IntPtr ptr = sl_get_sdk_version_native(); + if (ptr == IntPtr.Zero) return -1; + + string version = Marshal.PtrToStringAnsi(ptr); + if (string.IsNullOrEmpty(version)) return -1; + + string[] parts = version.Split('.'); + if (parts.Length < 2) return -1; + if (!int.TryParse(parts[0], out int major) || !int.TryParse(parts[1], out int minor)) return -1; + + return (major == ZEDCamera.PluginVersion.Major && minor == ZEDCamera.PluginVersion.Minor) ? 0 : major; } catch (DllNotFoundException e) { - Debug.LogError($"[NativeWrapper] Native library {LibName} not found: {e.Message}"); + Debug.LogError($"[NativeWrapper] ZED SDK not found: {e.Message}"); + return -1; } catch (EntryPointNotFoundException e) { - Debug.LogError($"[NativeWrapper] Function sl_check_plugin not found: {e.Message}"); + Debug.LogError($"[NativeWrapper] sl_get_sdk_version not found: {e.Message}"); + return -1; + } + catch (BadImageFormatException e) + { + Debug.LogError($"[NativeWrapper] ZED SDK DLL is incompatible (architecture mismatch or corrupted): {e.Message}"); + return -1; + } + catch (Exception e) + { + Debug.LogError($"[NativeWrapper] Failed to load ZED SDK: {e.GetType().Name}: {e.Message}"); + return -1; } - - return _initialized; - } - - /// - /// Call the plugin check function - /// - public static int CheckPlugin() - { - if (!_initialized || _checkZEDPlugin == null) - throw new InvalidOperationException("NativeWrapper is not initialized or function missing."); - - return _checkZEDPlugin(ZEDCamera.PluginVersion.Major, ZEDCamera.PluginVersion.Minor); } } @@ -113,6 +121,7 @@ private struct TextureRequested /// DLL name, used for extern calls to the wrapper. /// public const string nameDll = sl.ZEDCommon.NameDLL; + public const string nameDllUnity = sl.ZEDCommon.NameDLLUnity; /// /// List of all created textures, representing SDK output. Indexed by ints corresponding to its ZEDCamera.TYPE_VIEW @@ -172,7 +181,7 @@ public Matrix4x4 Projection /// /// True if the ZED SDK is installed. /// - private static bool pluginIsReady = true; + private static bool pluginIsReady = false; /// /// Mutex for the image acquisition thread. @@ -338,13 +347,13 @@ public int TagInvisibleToZED /// /// Current Plugin Version. /// - public static readonly System.Version PluginVersion = new System.Version(5, 2, 0); + public static readonly System.Version PluginVersion = new System.Version(5, 3, 0); /******** DLL members ***********/ - [DllImport(nameDll, EntryPoint = "GetRenderEventFunc")] + [DllImport(nameDllUnity, EntryPoint = "GetRenderEventFunc")] private static extern IntPtr GetRenderEventFunc(); - [DllImport(nameDll, EntryPoint = "sl_register_callback_debuger")] + [DllImport(nameDllUnity, EntryPoint = "sl_register_callback_debuger")] private static extern void dllz_register_callback_debuger(DebugCallback callback); @@ -360,7 +369,7 @@ public int TagInvisibleToZED [DllImport(nameDll, EntryPoint = "sl_unload_instance")] private static extern void dllz_unload_instance(int id); - [DllImport(nameDll, EntryPoint = "sl_find_usb_device")] + [DllImport(nameDllUnity, EntryPoint = "sl_find_usb_device")] private static extern bool dllz_find_usb_device(USB_DEVICE dev); [DllImport(nameDll, EntryPoint = "sl_generate_unique_id")] @@ -374,12 +383,31 @@ public int TagInvisibleToZED /* - * Opening function (Opens camera and creates textures). + * Opening functions (Opens camera and creates textures). * Some initparameters are passed as arguments to facilitate Marshalling. */ [DllImport(nameDll, EntryPoint = "sl_open_camera")] - private static extern int dllz_open(int cameraID, ref dll_initParameters parameters, uint serialNumber, System.Text.StringBuilder svoPath, System.Text.StringBuilder ipStream, - int portStream, int gmslPort, System.Text.StringBuilder output, System.Text.StringBuilder opt_settings_path, System.Text.StringBuilder opencv_calib_path); + private static extern int dllz_open(int cameraID, ref dll_initParameters parameters, uint serialNumber, System.Text.StringBuilder svoPath, + System.Text.StringBuilder ipStream, int portStream, int gmslPort, System.Text.StringBuilder output, System.Text.StringBuilder opt_settings_path, + System.Text.StringBuilder opencv_calib_path); + + [DllImport(nameDll, EntryPoint = "sl_open_camera_from_camera_id")] + private static extern int dllz_open_from_camera_id(int cameraID, ref dll_initParameters parameters, System.Text.StringBuilder output, + System.Text.StringBuilder opt_settings_path, System.Text.StringBuilder opencv_calib_path); + + [DllImport(nameDll, EntryPoint = "sl_open_camera_from_serial_number")] + private static extern int dllz_open_from_serial_number(int cameraID, ref dll_initParameters parameters, uint serialNumber, + System.Text.StringBuilder output, System.Text.StringBuilder opt_settings_path, System.Text.StringBuilder opencv_calib_path); + + [DllImport(nameDll, EntryPoint = "sl_open_camera_from_svo_file")] + private static extern int dllz_open_from_svo_file(int cameraID, ref dll_initParameters parameters, System.Text.StringBuilder svoPath, + System.Text.StringBuilder output, System.Text.StringBuilder opt_settings_path, System.Text.StringBuilder opencv_calib_path); + + [DllImport(nameDll, EntryPoint = "sl_open_camera_from_stream")] + private static extern int dllz_open_from_stream(int cameraID, ref dll_initParameters parameters,System.Text.StringBuilder ipStream, + int portStream, System.Text.StringBuilder output, System.Text.StringBuilder opt_settings_path, + System.Text.StringBuilder opencv_calib_path); + /* * Close function. */ @@ -425,7 +453,7 @@ private static extern int dllz_open(int cameraID, ref dll_initParameters paramet private static extern IntPtr dllz_get_recording_parameters(int cameraID); [DllImport(nameDll, EntryPoint = "sl_disable_recording")] - private static extern bool dllz_disable_recording(int cameraID); + private static extern void dllz_disable_recording(int cameraID); [DllImport(nameDll, EntryPoint = "sl_pause_recording")] private static extern void dllz_pause_recording(int cameraID, bool status); @@ -447,36 +475,48 @@ private static extern int dllz_open(int cameraID, ref dll_initParameters paramet [DllImport(nameDll, EntryPoint = "sl_get_svo_data_keys")] private static extern void dllz_get_svo_data_keys(int cameraID, int nb_keys, [Out] string[] keys); + /* + * Texture lifecycle functions (Unity layer — must be called around sl_open/sl_close). + */ + [DllImport(nameDllUnity, EntryPoint = "sl_unity_init_textures")] + private static extern void dllz_unity_init_textures(int cameraID, int depthMode); + + [DllImport(nameDllUnity, EntryPoint = "sl_unity_cleanup_textures")] + private static extern void dllz_unity_cleanup_textures(int cameraID); + + [DllImport(nameDllUnity, EntryPoint = "sl_unity_cleanup_all_textures")] + private static extern void dllz_unity_cleanup_all_textures(); + /* * Texturing functions. */ - [DllImport(nameDll, EntryPoint = "sl_retrieve_textures")] + [DllImport(nameDllUnity, EntryPoint = "sl_retrieve_textures")] private static extern void dllz_retrieve_textures(int cameraID); - [DllImport(nameDll, EntryPoint = "sl_get_updated_textures_timestamp")] + [DllImport(nameDllUnity, EntryPoint = "sl_get_updated_textures_timestamp")] private static extern ulong dllz_get_updated_textures_timestamp(int cameraID); - [DllImport(nameDll, EntryPoint = "sl_swap_textures")] + [DllImport(nameDllUnity, EntryPoint = "sl_swap_textures")] private static extern void dllz_swap_textures(int cameraID); - [DllImport(nameDll, EntryPoint = "sl_register_texture_image_type")] + [DllImport(nameDllUnity, EntryPoint = "sl_register_texture_image_type")] private static extern int dllz_register_texture_image_type(int cameraID, int option, IntPtr id, int width, int height); - [DllImport(nameDll, EntryPoint = "sl_register_texture_measure_type")] + [DllImport(nameDllUnity, EntryPoint = "sl_register_texture_measure_type")] private static extern int dllz_register_texture_measure_type(int cameraID, int option, IntPtr id, int width, int height); - [DllImport(nameDll, EntryPoint = "sl_unregister_texture_measure_type")] + [DllImport(nameDllUnity, EntryPoint = "sl_unregister_texture_measure_type")] private static extern int dllz_unregister_texture_measure_type(int cameraID, int option); - [DllImport(nameDll, EntryPoint = "sl_unregister_texture_image_type")] + [DllImport(nameDllUnity, EntryPoint = "sl_unregister_texture_image_type")] private static extern int dllz_unregister_texture_image_type(int cameraID, int option); - [DllImport(nameDll, EntryPoint = "sl_get_copy_mat_texture_image_type")] + [DllImport(nameDllUnity, EntryPoint = "sl_get_copy_mat_texture_image_type")] private static extern IntPtr dllz_get_copy_mat_texture_image_type(int cameraID, int option); - [DllImport(nameDll, EntryPoint = "sl_get_copy_mat_texture_measure_type")] + [DllImport(nameDllUnity, EntryPoint = "sl_get_copy_mat_texture_measure_type")] private static extern IntPtr dllz_get_copy_mat_texture_measure_type(int cameraID, int option); @@ -487,14 +527,14 @@ private static extern int dllz_open(int cameraID, ref dll_initParameters paramet [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); + [DllImport(nameDll, EntryPoint = "sl_set_camera_settings")] + private static extern int dllz_set_video_settings(int id, int mode, int value); - [DllImport(nameDll, EntryPoint = "sl_get_video_settings")] + [DllImport(nameDll, EntryPoint = "sl_get_camera_settings")] private static extern int dllz_get_video_settings(int id, int mode, ref int value); [DllImport(nameDll, EntryPoint = "sl_set_roi_for_aec_agc")] - private static extern int dllz_set_roi_for_aec_agc(int id, int side, sl.Rect roi, bool reset); + private static extern int dllz_set_roi_for_aec_agc(int id, int side, ref sl.Rect roi, bool reset); [DllImport(nameDll, EntryPoint = "sl_get_roi_for_aec_agc")] private static extern int dllz_get_roi_for_aec_agc(int id, int side, ref sl.Rect roi); @@ -542,14 +582,12 @@ private static extern int dllz_open(int cameraID, ref dll_initParameters paramet [DllImport(nameDll, EntryPoint = "sl_get_camera_timestamp")] private static extern ulong dllz_get_image_timestamp(int cameraID); - [DllImport(nameDll, EntryPoint = "sl_get_current_Timestamp")] + [DllImport(nameDll, EntryPoint = "sl_get_current_timestamp")] private static extern ulong dllz_get_current_timestamp(int cameraID); [DllImport(nameDll, EntryPoint = "sl_get_frame_dropped_count")] private static extern uint dllz_get_frame_dropped_count(int cameraID); - [DllImport(nameDll, EntryPoint = "sl_get_frame_dropped_percent")] - private static extern float dllz_get_frame_dropped_percent(int cameraID); /* [DllImport(nameDll, EntryPoint = "sl_get_init_parameters")] private static extern IntPtr dllz_get_init_parameters(int cameraID); @@ -565,7 +603,7 @@ private static extern int dllz_open(int cameraID, ref dll_initParameters paramet */ [DllImport(nameDll, EntryPoint = "sl_set_svo_position")] - private static extern void dllz_set_svo_position(int cameraID, int frame); + private static extern int dllz_set_svo_position(int cameraID, int frame); [DllImport(nameDll, EntryPoint = "sl_get_svo_number_of_frames")] private static extern int dllz_get_svo_number_of_frames(int cameraID); @@ -591,16 +629,16 @@ private static extern int dllz_open(int cameraID, ref dll_initParameters paramet [DllImport(nameDll, EntryPoint = "sl_get_depth_max_range_value")] private static extern float dllz_get_depth_max_range_value(int cameraID); - [DllImport(nameDll, EntryPoint = "sl_get_depth_value")] + [DllImport(nameDllUnity, EntryPoint = "sl_get_depth_value")] private static extern float dllz_get_depth_value(int cameraID, uint x, uint y); - [DllImport(nameDll, EntryPoint = "sl_get_distance_value")] + [DllImport(nameDllUnity, EntryPoint = "sl_get_distance_value")] private static extern float dllz_get_distance_value(int cameraID, uint x, uint y); - [DllImport(nameDll, EntryPoint = "sl_get_normal_value")] + [DllImport(nameDllUnity, EntryPoint = "sl_get_normal_value")] private static extern bool dllz_get_normal_value(int cameraID, uint x, uint y, out Vector4 value); - [DllImport(nameDll, EntryPoint = "sl_get_xyz_value")] + [DllImport(nameDllUnity, EntryPoint = "sl_get_xyz_value")] private static extern bool dllz_get_xyz_value(int cameraID, uint x, uint y, out Vector4 value); [DllImport(nameDll, EntryPoint = "sl_get_depth_min_range_value")] @@ -613,10 +651,8 @@ private static extern int dllz_open(int cameraID, ref dll_initParameters paramet /* * Motion Tracking functions. */ - [DllImport(nameDll, EntryPoint = "sl_enable_positional_tracking_unity")] - private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat, ref Vector3 vec, bool enableSpatialMemory = false, bool enablePoseSmoothing = false, bool enableFloorAlignment = false, - bool trackingIsStatic = false, bool enableIMUFusion = true, float depthMinRange = -1.0f, bool setGravityAsOrigin = true, sl.POSITIONAL_TRACKING_MODE mode = sl.POSITIONAL_TRACKING_MODE.GEN_1, - bool enableLocalizationOnly = false, bool enable2DGroundMode = false, System.Text.StringBuilder aeraFilePath = null); + [DllImport(nameDll, EntryPoint = "sl_enable_positional_tracking")] + private static extern int dllz_enable_tracking(int cameraID, ref PositionalTrackingParameters positionalTracking, System.Text.StringBuilder areaFilePath); [DllImport(nameDll, EntryPoint = "sl_disable_positional_tracking")] private static extern void dllz_disable_tracking(int cameraID, System.Text.StringBuilder path); @@ -639,25 +675,25 @@ private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat [DllImport(nameDll, EntryPoint = "sl_get_position_at_target_frame")] private static extern int dllz_get_position_at_target_frame(int cameraID, ref Quaternion quaternion, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation, int reference_frame); - [DllImport(nameDll, EntryPoint = "sl_transform_pose")] + [DllImport(nameDllUnity, EntryPoint = "sl_transform_pose")] private static extern void dllz_transform_pose(ref Quaternion quaternion, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation); [DllImport(nameDll, EntryPoint = "sl_reset_positional_tracking")] private static extern int dllz_reset_tracking(int cameraID, Quaternion rotation, Vector3 translation); - [DllImport(nameDll, EntryPoint = "sl_reset_tracking_with_offset")] + [DllImport(nameDll, EntryPoint = "sl_reset_positional_tracking_with_offset")] private static extern int dllz_reset_tracking_with_offset(int cameraID, Quaternion rotation, Vector3 translation, Quaternion offsetQuaternion, Vector3 offsetTranslation); - [DllImport(nameDll, EntryPoint = "sl_estimate_initial_position")] + [DllImport(nameDllUnity, EntryPoint = "sl_estimate_initial_position")] private static extern int dllz_estimate_initial_position(int cameraID, ref Quaternion quaternion, ref Vector3 translation, int countSuccess, int countTimeout); [DllImport(nameDll, EntryPoint = "sl_set_imu_prior_orientation")] private static extern int dllz_set_imu_prior_orientation(int cameraID, Quaternion rotation); - [DllImport(nameDll, EntryPoint = "sl_get_internal_imu_orientation")] + [DllImport(nameDll, EntryPoint = "sl_get_imu_orientation")] private static extern int dllz_get_internal_imu_orientation(int cameraID, ref Quaternion rotation, int reference_time); - [DllImport(nameDll, EntryPoint = "sl_get_internal_sensors_data")] + [DllImport(nameDll, EntryPoint = "sl_get_sensors_data")] private static extern int dllz_get_internal_sensors_data(int cameraID, ref SensorsData imuData, int reference_time); [DllImport(nameDll, EntryPoint = "sl_get_area_export_state")] @@ -840,10 +876,10 @@ private static extern int dllz_get_objects_batch_data(int cameraID, int batch_in [DllImport(nameDll, EntryPoint = "sl_convert_coordinate_system")] private static extern int dllz_convert_coordinate_system(ref Quaternion rotation, ref Vector3 translation, sl.COORDINATE_SYSTEM coordSystemSrc, sl.COORDINATE_SYSTEM coordSystemDest); - [DllImport(nameDll, EntryPoint = "sl_compute_offset")] + [DllImport(nameDllUnity, EntryPoint = "sl_compute_offset")] private static extern void dllz_compute_offset(float[] A, float[] B, int nbVectors, float[] C); - [DllImport(nameDll, EntryPoint = "sl_compute_optical_center_offsets")] + [DllImport(nameDllUnity, EntryPoint = "sl_compute_optical_center_offsets")] private static extern System.IntPtr dllz_compute_optical_center_offsets(ref Vector4 calibLeft, ref Vector4 calibRight, int width, int height, float planeDistance); @@ -860,6 +896,7 @@ private static extern int dllz_get_objects_batch_data(int cameraID, int batch_in public static void UnloadPlugin() { + dllz_unity_cleanup_all_textures(); dllz_unload_all_instances(); } @@ -986,6 +1023,16 @@ public static string GenerateUniqueID() /// public static bool CheckPlugin() { + if (!ZEDSDKVersionValidator.ValidationComplete) + ZEDSDKVersionValidator.Validate(); + + if (!ZEDSDKVersionValidator.IsSDKCompatible) + { + pluginIsReady = false; + Debug.LogError(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_VERSION_MISMATCH)); + return false; + } + if (NativeWrapper.Init()) { int res = NativeWrapper.CheckPlugin(); @@ -996,7 +1043,7 @@ public static bool CheckPlugin() } } - //0 = installed SDK is compatible with plugin. 1 otherwise. + pluginIsReady = false; Debug.LogError(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_DEPENDENCIES_ISSUE)); return false; } @@ -1031,7 +1078,7 @@ public ZEDCamera() public bool CreateCamera(int cameraID, bool verbose) { string infoSystem = SystemInfo.graphicsDeviceType.ToString().ToUpper(); - if (!infoSystem.Equals("DIRECT3D11") && !infoSystem.Equals("OPENGLCORE") && !infoSystem.Equals("VULKAN")) + if (!infoSystem.Equals("DIRECT3D11") && !infoSystem.Equals("OPENGLCORE") && !infoSystem.Equals("VULKAN") && !infoSystem.Equals("DIRECT3D12")) { Debug.LogError("The graphic library [" + infoSystem + "] is not supported"); #if UNITY_EDITOR @@ -1041,16 +1088,35 @@ public bool CreateCamera(int cameraID, bool verbose) #endif return false; } + + if (!ZEDSDKVersionValidator.ValidationComplete) + ZEDSDKVersionValidator.Validate(); + + if (!ZEDSDKVersionValidator.IsSDKCompatible) + { + Debug.LogError("[ZEDCamera] Cannot create camera: " + ZEDSDKVersionValidator.DetailedMessage); + return false; + } + CameraID = cameraID; - //tagOneObject += cameraID; - return dllz_create_camera(cameraID); + bool result = dllz_create_camera(cameraID); + if (result) + pluginIsReady = true; + return result; } public void Close() { cameraReady = false; + dllz_unity_cleanup_textures(CameraID); dllz_close(CameraID); } + // Must be called on the main thread after Open() succeeds. Unity forbids loading native plugins from background threads. + public void InitTextures(int depthMode) + { + dllz_unity_init_textures(CameraID, depthMode); + } + /// /// Closes the camera and deletes all textures. /// Once destroyed, you need to recreate a camera instance to restart again. @@ -1183,6 +1249,12 @@ public struct dll_initParameters public Resolution maximumWorkingResolution; + /// + /// Decryption key required to open an SVO file that was recorded with encryption. + /// + [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)] + public string svoDecryptionKey; + /// /// Copy constructor. Takes values from Unity-suited InitParameters class. /// @@ -1212,6 +1284,7 @@ public dll_initParameters(InitParameters init) grabComputeCappingFPS = init.grabComputeCappingFPS; enableImageValidityCheck = init.enableImageValidityCheck; maximumWorkingResolution = init.maximumWorkingResolution; + svoDecryptionKey = init.svoDecryptionKey; } } @@ -1227,21 +1300,69 @@ public ERROR_CODE Open(ref InitParameters initParameters) //Update values with what we're about to pass to the camera. currentResolution = initParameters.resolution; fpsMax = GetFpsForResolution(currentResolution); - if (initParameters.cameraFPS == 0) + if (initParameters.cameraFPS <= 0) { 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 - int v = dllz_open(CameraID, ref initP, initParameters.serialNumber, +/* 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), initParameters.portStream, initParameters.gmslPort, new System.Text.StringBuilder(initParameters.sdkVerboseLogFile, initParameters.sdkVerboseLogFile.Length), new System.Text.StringBuilder(initParameters.optionalSettingsPath, initParameters.optionalSettingsPath.Length), - new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length)); + new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length));*/ + + int v = (int)sl.ERROR_CODE.FAILURE; + switch (initParameters.inputType) + { + case INPUT_TYPE.SVO: + v = dllz_open_from_svo_file(CameraID, ref initP, + new System.Text.StringBuilder(initParameters.pathSVO, initParameters.pathSVO.Length), + new System.Text.StringBuilder(initParameters.sdkVerboseLogFile, initParameters.sdkVerboseLogFile.Length), + new System.Text.StringBuilder(initParameters.optionalSettingsPath, initParameters.optionalSettingsPath.Length), + new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length)); + break; + case INPUT_TYPE.STREAM: + v = dllz_open_from_stream(CameraID, ref initP, + new System.Text.StringBuilder(initParameters.ipStream, initParameters.ipStream.Length), + initParameters.portStream, + new System.Text.StringBuilder(initParameters.sdkVerboseLogFile, initParameters.sdkVerboseLogFile.Length), + new System.Text.StringBuilder(initParameters.optionalSettingsPath, initParameters.optionalSettingsPath.Length), + new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length)); + break; + case INPUT_TYPE.GMSL: + v = dllz_open(CameraID, ref initP, + initParameters.serialNumber, + new System.Text.StringBuilder(""), + new System.Text.StringBuilder(""), + 0, + initParameters.gmslPort, + new System.Text.StringBuilder(initParameters.sdkVerboseLogFile, initParameters.sdkVerboseLogFile.Length), + new System.Text.StringBuilder(initParameters.optionalSettingsPath, initParameters.optionalSettingsPath.Length), + new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length)); + break; + default: + case INPUT_TYPE.USB: + if (initParameters.serialNumber > 0) + { + v = dllz_open_from_serial_number(CameraID, ref initP, initParameters.serialNumber, + new System.Text.StringBuilder(initParameters.sdkVerboseLogFile, initParameters.sdkVerboseLogFile.Length), + new System.Text.StringBuilder(initParameters.optionalSettingsPath, initParameters.optionalSettingsPath.Length), + new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length)); + } + else + { + v = dllz_open_from_camera_id(CameraID, ref initP, + new System.Text.StringBuilder(initParameters.sdkVerboseLogFile, initParameters.sdkVerboseLogFile.Length), + new System.Text.StringBuilder(initParameters.optionalSettingsPath, initParameters.optionalSettingsPath.Length), + new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length)); + } + break; + } if ((ERROR_CODE)v != ERROR_CODE.SUCCESS) { @@ -1373,9 +1494,9 @@ public void PauseRecording(bool status) /// /// Stops recording to an SVO/AVI, if applicable, and closes the file. /// - public bool DisableRecording() + public void DisableRecording() { - return dllz_disable_recording(CameraID); + dllz_disable_recording(CameraID); } /// @@ -1540,18 +1661,13 @@ public static AI_MODELS ToAIModel(sl.DEPTH_MODE depth_mode) /// /// Initialize and Start the tracking functions /// - /// rotation used as initial world transform. By default it should be identity. - /// translation used as initial world transform. By default it should be identity. - /// (optional) define if spatial memory is enable or not. + /// Struct with all tracking parameters. See PositionalTrackingParameters for more info. /// (optional) file of spatial memory file that has to be loaded to relocate in the scene. /// - public sl.ERROR_CODE EnableTracking(ref Quaternion quat, ref Vector3 vec, bool enableSpatialMemory = true, bool enablePoseSmoothing = false, bool enableFloorAlignment = false, bool trackingIsStatic = false, - bool enableIMUFusion = true, float depthMinRange = -1.0f, bool setGravityAsOrigin = true, sl.POSITIONAL_TRACKING_MODE mode = POSITIONAL_TRACKING_MODE.GEN_1, - bool enableLocalizationOnly = false, bool enable2DGroundMode = false, string areaFilePath = "") + public sl.ERROR_CODE EnableTracking(ref PositionalTrackingParameters positionalTracking, string areaFilePath = "") { sl.ERROR_CODE trackingStatus = sl.ERROR_CODE.CAMERA_NOT_DETECTED; - trackingStatus = (sl.ERROR_CODE)dllz_enable_tracking(CameraID, ref quat, ref vec, enableSpatialMemory, enablePoseSmoothing, enableFloorAlignment, - trackingIsStatic, enableIMUFusion, depthMinRange, setGravityAsOrigin, mode, enableLocalizationOnly, enable2DGroundMode, new System.Text.StringBuilder(areaFilePath, areaFilePath.Length)); + trackingStatus = (sl.ERROR_CODE)dllz_enable_tracking(CameraID, ref positionalTracking, new System.Text.StringBuilder(areaFilePath, areaFilePath.Length)); return trackingStatus; } @@ -2019,15 +2135,6 @@ public uint GetFrameDroppedCount() return dllz_get_frame_dropped_count(CameraID); } - /// - /// Gets the percentage of frames dropped since Grab() was called for the first time. - /// - /// Percentage of frames dropped. - public float GetFrameDroppedPercent() - { - return dllz_get_frame_dropped_percent(CameraID); - } - /// /// Returns the current status of positional tracking module. /// @@ -2275,7 +2382,7 @@ public int SetCameraSettings(CAMERA_SETTINGS settings, int side, sl.Rect roi, bo { AssertCameraIsReady(); if (settings == CAMERA_SETTINGS.AEC_AGC_ROI) - return dllz_set_roi_for_aec_agc(CameraID, side, roi, reset); + return dllz_set_roi_for_aec_agc(CameraID, side, ref roi, reset); else return -1; } diff --git a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs index bc1e97b7..e865b96f 100644 --- a/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs +++ b/ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs @@ -16,7 +16,8 @@ namespace sl public class ZEDCommon { - public const string NameDLL = "sl_unitywrapper"; + public const string NameDLL = "sl_zed_c"; + public const string NameDLLUnity = "sl_zed_unity"; public static bool IsVector3NaN(Vector3 input) { return float.IsNaN(input.x) || float.IsNaN(input.y) || float.IsNaN(input.z); @@ -1167,6 +1168,14 @@ public enum RESOLUTION /// VGA, /// + /// 960x768 (x2) \n Available FPS: 30 \n Only supported with ZED-X HDR lineup (One/Stereo) + /// + XVGA, + /// + /// 640x512 (x2) \n Available FPS: 30 \n Only supported with ZED-X HDR lineup (One/Stereo) + /// + TXGA, + /// /// Select the resolution compatible with camera, on ZEDX HD1200, HD720 otherwise /// AUTO @@ -1196,7 +1205,7 @@ public enum USB_RESOLUTION /// /// Select the resolution compatible with camera, on ZEDX HD1200, HD720 otherwise /// - AUTO = 9 + AUTO = sl.RESOLUTION.AUTO }; /// @@ -2113,6 +2122,11 @@ public class InitParameters /// public Resolution maximumWorkingResolution; + /// + /// Decryption key required to open an SVO file that was recorded with encryption. + /// + public string svoDecryptionKey = ""; + /// /// Set the input as the camera with specified id. /// @@ -2367,6 +2381,35 @@ public RegionOfInterestParameters(bool[] autoApplyModule_, float depthFarThresho } } + /// + /// Struct containing all parameters related to the ZED's positional tracking module, + /// which can be set at runtime with EnablePositionalTracking() and UpdatePositionalTrackingParameters(). + /// + [StructLayout(LayoutKind.Sequential)] + public struct PositionalTrackingParameters + { + public Quaternion InitialWorldRotation; + public Vector3 InitialWorldPosition; + [MarshalAs(UnmanagedType.U1)] + public bool enableAreaMemory; + [MarshalAs(UnmanagedType.U1)] + public bool enablePoseSmoothing; + [MarshalAs(UnmanagedType.U1)] + public bool setFloorAsOrigin; + [MarshalAs(UnmanagedType.U1)] + public bool setAsStatic; + [MarshalAs(UnmanagedType.U1)] + public bool enableIMUFusion; + public float depthMinRange; + [MarshalAs(UnmanagedType.U1)] + public bool setGravityAsOrigin; + public POSITIONAL_TRACKING_MODE mode; + [MarshalAs(UnmanagedType.U1)] + public bool enableLocalizationOnly; + [MarshalAs(UnmanagedType.U1)] + public bool enable2DGroundMode; + } + /// /// DLL-friendly version of SpatialMappingPara (found in ZEDCommon.cs). /// @@ -2907,8 +2950,15 @@ public enum BODY_FORMAT BODY_38=2 }; + public enum INFERENCE_PRECISION + { + FP32 = 0, + FP16 = 1, + INT8 = 2 + }; + /// - /// + /// /// public enum BODY_KEYPOINTS_SELECTION { @@ -3322,6 +3372,11 @@ public struct BodyData [MarshalAs(UnmanagedType.ByValArray, SizeConst = 38)] public float[] keypointConfidence; /// + /// Per keypoint detection covariance (6 values per keypoint, upper triangular 3x3 matrix). + /// + [MarshalAs(UnmanagedType.ByValArray, SizeConst = 228)] + public float[] keypointCovariances; + /// /// Per keypoint local position (the position of the child keypoint with respect to its parent expressed in its parent coordinate frame) /// [MarshalAs(UnmanagedType.ByValArray, SizeConst = 38)] @@ -3364,11 +3419,15 @@ public struct Bodies /// public int isTracked; /// - /// Current detection model used. + /// Inference precision mode used for body detection. /// - public sl.OBJECT_DETECTION_MODEL detectionModel; + public sl.INFERENCE_PRECISION inferencePrecisionMode; + /// + /// Body format used (BODY_18, BODY_34, BODY_38). + /// + public sl.BODY_FORMAT bodyFormat; /// - /// Array of objects + /// Array of bodies /// [MarshalAs(UnmanagedType.ByValArray, SizeConst = (int)(Constant.MAX_OBJECTS))] public BodyData[] bodyList; diff --git a/ZEDCamera/Assets/SDK/NativeInterface/ZEDMat.cs b/ZEDCamera/Assets/SDK/NativeInterface/ZEDMat.cs index b86f6236..8aca8a19 100644 --- a/ZEDCamera/Assets/SDK/NativeInterface/ZEDMat.cs +++ b/ZEDCamera/Assets/SDK/NativeInterface/ZEDMat.cs @@ -282,10 +282,10 @@ public enum MEM private static extern int dllz_mat_get_pixel_bytes(System.IntPtr ptr); [DllImport(nameDll, EntryPoint = "sl_mat_get_step")] - private static extern int dllz_mat_get_step(System.IntPtr ptr); + private static extern int dllz_mat_get_step(System.IntPtr ptr, int mem); [DllImport(nameDll, EntryPoint = "sl_mat_get_step_bytes")] - private static extern int dllz_mat_get_step_bytes(System.IntPtr ptr); + private static extern int dllz_mat_get_step_bytes(System.IntPtr ptr, int mem); [DllImport(nameDll, EntryPoint = "sl_mat_get_width_bytes")] private static extern int dllz_mat_get_width_bytes(System.IntPtr ptr); @@ -490,18 +490,18 @@ public int GetPixelBytes() /// Returns the memory 'step' in number/length of elements - how many values make up each row of pixels. /// /// Step length. - public int GetStep() + public int GetStep(MEM mem = MEM.MEM_CPU) { - return dllz_mat_get_step(_matInternalPtr); + return dllz_mat_get_step(_matInternalPtr, (int)mem); } /// /// Returns the memory 'step' in bytes - how many bytes make up each row of pixels. /// /// - public int GetStepBytes() + public int GetStepBytes(MEM mem = MEM.MEM_CPU) { - return dllz_mat_get_step_bytes(_matInternalPtr); + return dllz_mat_get_step_bytes(_matInternalPtr, (int)mem); } /// diff --git a/ZEDCamera/Assets/SDK/NativeInterface/ZEDSDKVersionValidator.cs b/ZEDCamera/Assets/SDK/NativeInterface/ZEDSDKVersionValidator.cs new file mode 100644 index 00000000..b7b92dd6 --- /dev/null +++ b/ZEDCamera/Assets/SDK/NativeInterface/ZEDSDKVersionValidator.cs @@ -0,0 +1,131 @@ +//======= Copyright (c) Stereolabs Corporation, All rights reserved. =============== + +using System; +using System.IO; +using System.Runtime.InteropServices; +using System.Text.RegularExpressions; +using UnityEngine; + +namespace sl +{ + /// + /// Detects the installed ZED SDK version via filesystem (no native DLL loading) + /// and blocks ZED initialization if the version is incompatible with this plugin. + /// + /// This runs at SubsystemRegistration time, before any MonoBehaviour.Awake, + /// so ZEDManager can check IsSDKCompatible before triggering any P/Invoke calls + /// that would load the native DLLs and potentially crash. + /// + public static class ZEDSDKVersionValidator + { +#if UNITY_STANDALONE_WIN && !UNITY_EDITOR + [DllImport("user32.dll", CharSet = CharSet.Unicode)] + private static extern int MessageBox(IntPtr hWnd, string text, string caption, uint type); + const uint MB_OK = 0x00000000; + const uint MB_ICONERROR = 0x00000010; +#endif + + public static bool IsSDKCompatible { get; private set; } = false; + public static bool ValidationComplete { get; private set; } = false; + public static string InstalledSDKVersion { get; private set; } = "unknown"; + public static string RequiredSDKVersion => $"{ZEDCamera.PluginVersion.Major}.{ZEDCamera.PluginVersion.Minor}"; + public static string DetailedMessage { get; private set; } = ""; + + [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.SubsystemRegistration)] + static void ValidateOnStartup() + { + Validate(); + } + + static void HandleRuntimeError(string message) + { +#if !UNITY_EDITOR +#if UNITY_STANDALONE_WIN + try + { + MessageBox(IntPtr.Zero, message, "ZED Plugin - SDK Version Error", MB_OK | MB_ICONERROR); + } + catch (Exception) { } +#endif + Application.Quit(1); +#endif + } + + public static void Validate() + { + ValidationComplete = false; + IsSDKCompatible = false; + + try + { + string sdkRoot = Environment.GetEnvironmentVariable("ZED_SDK_ROOT_DIR"); + if (string.IsNullOrEmpty(sdkRoot) || !Directory.Exists(sdkRoot)) + { + InstalledSDKVersion = "not found"; + DetailedMessage = "ZED SDK is not installed (ZED_SDK_ROOT_DIR environment variable not set). " + + $"This plugin requires ZED SDK v{RequiredSDKVersion}. " + + "Download it from https://www.stereolabs.com/developers/release"; + ValidationComplete = true; + Debug.LogError($"[ZED Plugin] {DetailedMessage}"); + HandleRuntimeError(DetailedMessage); + return; + } + + string versionFile = Path.Combine(sdkRoot, "zed-config-version.cmake"); + if (!File.Exists(versionFile)) + { + InstalledSDKVersion = "unknown"; + DetailedMessage = "Could not determine installed ZED SDK version. " + + "The ZED SDK installation may be corrupted. " + + $"This plugin requires ZED SDK v{RequiredSDKVersion}."; + ValidationComplete = true; + IsSDKCompatible = true; + Debug.LogWarning($"[ZED Plugin] {DetailedMessage}"); + return; + } + + string content = File.ReadAllText(versionFile); + var match = Regex.Match(content, @"set\(PACKAGE_VERSION\s+""(\d+)\.(\d+)\.(\d+)""\)"); + if (!match.Success) + { + InstalledSDKVersion = "unknown"; + DetailedMessage = "Could not parse ZED SDK version from installation."; + ValidationComplete = true; + IsSDKCompatible = true; + Debug.LogWarning($"[ZED Plugin] {DetailedMessage}"); + return; + } + + int major = int.Parse(match.Groups[1].Value); + int minor = int.Parse(match.Groups[2].Value); + int patch = int.Parse(match.Groups[3].Value); + InstalledSDKVersion = $"{major}.{minor}.{patch}"; + + if (major == ZEDCamera.PluginVersion.Major && minor == ZEDCamera.PluginVersion.Minor) + { + IsSDKCompatible = true; + DetailedMessage = ""; + } + else + { + IsSDKCompatible = false; + DetailedMessage = $"ZED SDK version mismatch: installed v{InstalledSDKVersion}, " + + $"but this plugin requires v{RequiredSDKVersion}.x. " + + $"Please install ZED SDK v{RequiredSDKVersion} from https://www.stereolabs.com/developers/release " + + "or update the ZED Unity plugin to match your installed SDK."; + Debug.LogError($"[ZED Plugin] {DetailedMessage}"); + HandleRuntimeError(DetailedMessage); + } + } + catch (Exception e) + { + InstalledSDKVersion = "error"; + DetailedMessage = $"Error checking ZED SDK version: {e.Message}"; + IsSDKCompatible = true; + Debug.LogWarning($"[ZED Plugin] {DetailedMessage}"); + } + + ValidationComplete = true; + } + } +} diff --git a/ZEDCamera/Assets/SDK/NativeInterface/ZEDSDKVersionValidator.cs.meta b/ZEDCamera/Assets/SDK/NativeInterface/ZEDSDKVersionValidator.cs.meta new file mode 100644 index 00000000..2a936c4b --- /dev/null +++ b/ZEDCamera/Assets/SDK/NativeInterface/ZEDSDKVersionValidator.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 1b330044cea5cdb4899ac4d757d9b307 \ No newline at end of file diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_unitywrapper.so b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_unitywrapper.so deleted file mode 100644 index 039dd24a..00000000 Binary files a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_unitywrapper.so and /dev/null differ diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_unitywrapper.so.meta b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_unitywrapper.so.meta deleted file mode 100644 index f9cb69a4..00000000 --- a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_unitywrapper.so.meta +++ /dev/null @@ -1,68 +0,0 @@ -fileFormatVersion: 2 -guid: 05bdc2fbfd192e5408362b97ceae5cf4 -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 1 - isOverridable: 0 - isExplicitlyReferenced: 0 - validateReferences: 1 - platformData: - - first: - : - second: - enabled: 0 - settings: {} - - first: - : Any - second: - enabled: 0 - settings: - Exclude Editor: 0 - Exclude Linux64: 0 - Exclude OSXUniversal: 0 - Exclude Win: 0 - Exclude Win64: 0 - - first: - Any: - second: - enabled: 1 - settings: {} - - first: - Editor: Editor - second: - enabled: 1 - settings: - CPU: x86_64 - DefaultValueInitialized: true - OS: AnyOS - - first: - Standalone: Linux64 - second: - enabled: 1 - settings: - CPU: None - - first: - Standalone: OSXUniversal - second: - enabled: 1 - settings: - CPU: x86_64 - - first: - Standalone: Win - second: - enabled: 1 - settings: - CPU: None - - first: - Standalone: Win64 - second: - enabled: 1 - settings: - CPU: x86_64 - userData: - assetBundleName: - assetBundleVariant: diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_c.so b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_c.so new file mode 100644 index 00000000..6cac3b37 Binary files /dev/null and b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_c.so differ diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_c.so.meta b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_c.so.meta new file mode 100644 index 00000000..b0ace166 --- /dev/null +++ b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_c.so.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 3a561f73f089ab54d863634e47b73859 \ No newline at end of file diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_unity.so b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_unity.so new file mode 100644 index 00000000..a0aff4f5 Binary files /dev/null and b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_unity.so differ diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_unity.so.meta b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_unity.so.meta new file mode 100644 index 00000000..59cc03ab --- /dev/null +++ b/ZEDCamera/Assets/SDK/Plugins/x86_64/libsl_zed_unity.so.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: e5988002e356c2146873b64133bfcb00 \ No newline at end of file diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_unitywrapper.dll b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_unitywrapper.dll deleted file mode 100644 index 487402bd..00000000 Binary files a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_unitywrapper.dll and /dev/null differ diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_unitywrapper.dll.meta b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_unitywrapper.dll.meta deleted file mode 100644 index b2a1c347..00000000 --- a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_unitywrapper.dll.meta +++ /dev/null @@ -1,68 +0,0 @@ -fileFormatVersion: 2 -guid: c6c209e35aa43d24bb8e0c1d5fbaf9ca -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 1 - isOverridable: 0 - isExplicitlyReferenced: 0 - validateReferences: 1 - platformData: - - first: - : - second: - enabled: 0 - settings: {} - - first: - : Any - second: - enabled: 0 - settings: - Exclude Editor: 0 - Exclude Linux64: 0 - Exclude OSXUniversal: 0 - Exclude Win: 0 - Exclude Win64: 0 - - first: - Any: - second: - enabled: 1 - settings: {} - - first: - Editor: Editor - second: - enabled: 1 - settings: - CPU: x86_64 - DefaultValueInitialized: true - OS: AnyOS - - first: - Standalone: Linux64 - second: - enabled: 1 - settings: - CPU: AnyCPU - - first: - Standalone: OSXUniversal - second: - enabled: 1 - settings: - CPU: x86_64 - - first: - Standalone: Win - second: - enabled: 1 - settings: - CPU: x86 - - first: - Standalone: Win64 - second: - enabled: 1 - settings: - CPU: x86_64 - userData: - assetBundleName: - assetBundleVariant: diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_c.dll b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_c.dll new file mode 100644 index 00000000..818f8b6e Binary files /dev/null and b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_c.dll differ diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_c.dll.meta b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_c.dll.meta new file mode 100644 index 00000000..0e03694f --- /dev/null +++ b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_c.dll.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 8879fa0722cff314bbc4e73fc31b7ec9 \ No newline at end of file diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_unity.dll b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_unity.dll new file mode 100644 index 00000000..57b48b23 Binary files /dev/null and b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_unity.dll differ diff --git a/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_unity.dll.meta b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_unity.dll.meta new file mode 100644 index 00000000..1e64ce48 --- /dev/null +++ b/ZEDCamera/Assets/SDK/Plugins/x86_64/sl_zed_unity.dll.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 8b75bd74ab081b6489f1aab4a2b4f6ea \ No newline at end of file diff --git a/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity b/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity index 62cb4ff2..58c8e304 100644 --- a/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity +++ b/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingMulti.unity @@ -322,7 +322,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: bodyFitting diff --git a/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingSingle.unity b/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingSingle.unity index 27ade2de..57d7c588 100644 --- a/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingSingle.unity +++ b/ZEDCamera/Assets/Samples~/Body Tracking/Scene/BodyTrackingSingle.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 0 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -341,7 +338,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: bodyFitting diff --git a/ZEDCamera/Assets/Samples~/Dark Room/Scene/Dark Room.unity b/ZEDCamera/Assets/Samples~/Dark Room/Scene/Dark Room.unity index 74d73ffe..f3dd9654 100644 --- a/ZEDCamera/Assets/Samples~/Dark Room/Scene/Dark Room.unity +++ b/ZEDCamera/Assets/Samples~/Dark Room/Scene/Dark Room.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -178,15 +175,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 11471150} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0, g: 1, b: 0.25517225, a: 1} m_Intensity: 10 m_Range: 10 m_SpotAngle: 40 m_InnerSpotAngle: 29.320492 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -230,8 +226,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &11471154 Transform: m_ObjectHideFlags: 0 @@ -289,15 +289,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 111758441} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 2 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 1 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -341,8 +340,12 @@ Light: m_BoundingSphereOverride: {x: 9.1835e-41, y: 5.8774825e-37, z: 1.8229346e-38, w: NaN} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!114 &111758444 MonoBehaviour: m_ObjectHideFlags: 0 @@ -455,15 +458,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 167691177} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0, g: 0.6689658, b: 1, a: 0} m_Intensity: 8 m_Range: 10 m_SpotAngle: 50 m_InnerSpotAngle: 37.05804 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -507,8 +509,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!1 &259196391 GameObject: m_ObjectHideFlags: 0 @@ -560,6 +566,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -581,9 +592,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!33 &259196394 MeshFilter: @@ -664,15 +677,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 311198984} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0.986207, g: 0, b: 1, a: 1} m_Intensity: 10 m_Range: 7 m_SpotAngle: 52 m_InnerSpotAngle: 38.63703 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -716,8 +728,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &311198988 Transform: m_ObjectHideFlags: 0 @@ -789,15 +805,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 361327213} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0, g: 0.751724, b: 1, a: 1} m_Intensity: 8 m_Range: 10 m_SpotAngle: 45 m_InnerSpotAngle: 33.15822 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -841,8 +856,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!114 &361327217 MonoBehaviour: m_ObjectHideFlags: 0 @@ -964,15 +983,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 423338573} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0, g: 1, b: 0.25517225, a: 1} m_Intensity: 10 m_Range: 10 m_SpotAngle: 40 m_InnerSpotAngle: 29.320492 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -1016,8 +1034,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &423338577 Transform: m_ObjectHideFlags: 0 @@ -1102,15 +1124,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 445666550} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0, g: 0.6689658, b: 1, a: 0} m_Intensity: 8 m_Range: 10 m_SpotAngle: 50 m_InnerSpotAngle: 37.05804 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -1154,8 +1175,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!1 &493651348 GameObject: m_ObjectHideFlags: 0 @@ -1337,15 +1362,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 627396523} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0, g: 0.6689658, b: 1, a: 0} m_Intensity: 8 m_Range: 10 m_SpotAngle: 50 m_InnerSpotAngle: 37.05804 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -1389,8 +1413,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!1 &659201222 GameObject: m_ObjectHideFlags: 0 @@ -1447,15 +1475,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 659201222} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 1, g: 0, b: 0, a: 1} m_Intensity: 8 m_Range: 10 m_SpotAngle: 45 m_InnerSpotAngle: 33.15822 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -1499,8 +1526,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!114 &659201226 MonoBehaviour: m_ObjectHideFlags: 0 @@ -1622,15 +1653,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 768756270} m_Enabled: 1 - 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serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0, g: 1, b: 0.25517225, a: 1} m_Intensity: 10 m_Range: 10 m_SpotAngle: 40 m_InnerSpotAngle: 29.320492 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -2024,8 +2060,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &831507620 Transform: m_ObjectHideFlags: 0 @@ -2051,6 +2091,7 @@ GameObject: m_Component: - component: {fileID: 914757541} - component: {fileID: 914757542} + - component: {fileID: 914757543} m_Layer: 0 m_Name: Directional Light m_TagString: Untagged @@ -2081,15 +2122,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 914757540} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 1 m_Range: 1 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - 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serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 0 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -244,7 +241,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: enableFillMode @@ -473,7 +470,8 @@ AudioSource: m_Enabled: 1 serializedVersion: 4 OutputAudioMixerGroup: {fileID: 0} - 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serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -190,7 +187,7 @@ PrefabInstance: value: -0 objectReference: {fileID: 0} - target: {fileID: 2300000, guid: a9d631e057afa6b4f862dc8e39847f05, type: 3} - propertyPath: m_Materials.Array.data[0] + propertyPath: 'm_Materials.Array.data[0]' value: objectReference: {fileID: 2100000, guid: cd1ed4849d62de14e863e2fb5ad9129c, type: 2} m_RemovedComponents: [] @@ -331,6 +328,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 257 m_RendererPriority: 0 m_Materials: @@ -352,9 +354,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!33 &199477240 MeshFilter: @@ -421,7 +425,7 @@ PrefabInstance: value: -0 objectReference: {fileID: 0} - target: {fileID: 2300000, guid: a9d631e057afa6b4f862dc8e39847f05, type: 3} - propertyPath: m_Materials.Array.data[0] + propertyPath: 'm_Materials.Array.data[0]' value: objectReference: {fileID: 2100000, guid: cd1ed4849d62de14e863e2fb5ad9129c, type: 2} m_RemovedComponents: [] @@ -464,15 +468,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 623047054} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 0 - m_Shape: 0 m_Color: {r: 0.15781794, g: 0.5577413, b: 1, a: 1} m_Intensity: 96.333626 m_Range: 1 m_SpotAngle: 179 m_InnerSpotAngle: 178.60872 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -516,8 +519,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 3.4e-43, z: 0, w: 6.1703806e-27} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!114 &623047056 MonoBehaviour: m_ObjectHideFlags: 0 @@ -711,7 +718,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 8 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: srpShaderType @@ -818,15 +825,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1536976641} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -870,8 +876,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 1.8658159e-28, z: 7.13e-43, w: 5.1389173e-27} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1536976643 Transform: m_ObjectHideFlags: 0 @@ -1083,6 +1093,7 @@ AudioSource: serializedVersion: 4 OutputAudioMixerGroup: {fileID: 0} m_audioClip: {fileID: 0} + m_Resource: {fileID: 0} m_PlayOnAwake: 1 m_Volume: 1 m_Pitch: 1 @@ -1218,6 +1229,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 257 m_RendererPriority: 0 m_Materials: @@ -1239,9 +1255,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!33 &1923003133 MeshFilter: diff --git a/ZEDCamera/Assets/Samples~/Object Detection/Scenes/2D Object Detection.unity b/ZEDCamera/Assets/Samples~/Object Detection/Scenes/2D Object Detection.unity index 23c38d12..77ce3e52 100644 --- a/ZEDCamera/Assets/Samples~/Object Detection/Scenes/2D Object Detection.unity +++ b/ZEDCamera/Assets/Samples~/Object Detection/Scenes/2D Object Detection.unity @@ -541,7 +541,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: bodyFitting diff --git a/ZEDCamera/Assets/Samples~/Object Detection/Scenes/3D Object Detection.unity b/ZEDCamera/Assets/Samples~/Object Detection/Scenes/3D Object Detection.unity index 1acc582e..8bf5d386 100644 --- a/ZEDCamera/Assets/Samples~/Object Detection/Scenes/3D Object Detection.unity +++ b/ZEDCamera/Assets/Samples~/Object Detection/Scenes/3D Object Detection.unity @@ -185,7 +185,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: sensingMode diff --git a/ZEDCamera/Assets/Samples~/Object Detection/Scenes/Custom Object Detection.unity b/ZEDCamera/Assets/Samples~/Object Detection/Scenes/Custom Object Detection.unity index 19307717..a85a273b 100644 --- a/ZEDCamera/Assets/Samples~/Object Detection/Scenes/Custom Object Detection.unity +++ b/ZEDCamera/Assets/Samples~/Object Detection/Scenes/Custom Object Detection.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 0 + serializedVersion: 13 + m_BakeOnSceneLoad: 1 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 1 @@ -96,7 +93,7 @@ LightmapSettings: m_ExportTrainingData: 0 m_TrainingDataDestination: TrainingData m_LightProbeSampleCountMultiplier: 4 - m_LightingDataAsset: {fileID: 0} + m_LightingDataAsset: {fileID: 112000000, guid: 8a6d6ae375a35cb4a8c13aa98282e4c9, type: 2} m_LightingSettings: {fileID: 1937375697} --- !u!196 &4 NavMeshSettings: @@ -180,7 +177,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: sensingMode @@ -343,15 +340,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1103816800} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -395,8 +391,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 6e-44, z: 2.2e-44, w: 1.1572e-41} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1103816802 Transform: m_ObjectHideFlags: 0 @@ -511,8 +511,7 @@ LightingSettings: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_Name: Settings.lighting - serializedVersion: 6 - m_GIWorkflowMode: 0 + serializedVersion: 10 m_EnableBakedLightmaps: 1 m_EnableRealtimeLightmaps: 1 m_RealtimeEnvironmentLighting: 1 @@ -522,9 +521,17 @@ LightingSettings: m_UsingShadowmask: 1 m_BakeBackend: 1 m_LightmapMaxSize: 1024 + m_LightmapSizeFixed: 0 + m_UseMipmapLimits: 1 m_BakeResolution: 40 m_Padding: 2 m_LightmapCompression: 2 + m_LightmapPackingMode: 1 + m_LightmapPackingMethod: 0 + m_XAtlasPackingAttempts: 16384 + m_XAtlasBruteForce: 0 + m_XAtlasBlockAlign: 0 + m_XAtlasRepackUnderutilizedLightmaps: 1 m_AO: 0 m_AOMaxDistance: 1 m_CompAOExponent: 1 @@ -535,13 +542,11 @@ LightingSettings: m_FilterMode: 1 m_LightmapParameters: {fileID: 15204, guid: 0000000000000000f000000000000000, type: 0} m_ExportTrainingData: 0 + m_EnableWorkerProcessBaking: 1 m_TrainingDataDestination: TrainingData m_RealtimeResolution: 2 m_ForceWhiteAlbedo: 0 m_ForceUpdates: 0 - m_FinalGather: 0 - m_FinalGatherRayCount: 256 - m_FinalGatherFiltering: 1 m_PVRCulling: 1 m_PVRSampling: 1 m_PVRDirectSampleCount: 32 @@ -565,8 +570,6 @@ LightingSettings: m_PVRFilteringAtrousPositionSigmaDirect: 0.5 m_PVRFilteringAtrousPositionSigmaIndirect: 2 m_PVRFilteringAtrousPositionSigmaAO: 1 - m_PVRTiledBaking: 0 - m_NumRaysToShootPerTexel: -1 m_RespectSceneVisibilityWhenBakingGI: 0 --- !u!1660057539 &9223372036854775807 SceneRoots: diff --git a/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity b/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity index e8d2a079..0f369bb6 100644 --- a/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity +++ b/ZEDCamera/Assets/Samples~/Object Placement/Scene/ObjectPlacement.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -176,7 +173,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: srpShaderType @@ -220,15 +217,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1946222998} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -272,8 +268,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 7.1e-44, z: 0, w: 6.930122e-29} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1946223000 Transform: m_ObjectHideFlags: 0 diff --git a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/ArUco Drone Wars.unity b/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/ArUco Drone Wars.unity index ac02fd60..7b109700 100644 --- a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/ArUco Drone Wars.unity +++ b/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/ArUco Drone Wars.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 0 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -534,7 +531,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 8 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: srpShaderType @@ -808,15 +805,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1268641451} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -860,8 +856,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 3.4e-43, z: 0, w: 6.1703806e-27} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1268641453 Transform: m_ObjectHideFlags: 0 diff --git a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity b/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity index cbd5767f..5f62ca6a 100644 --- a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity +++ b/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scenes/Simple Marker Placement.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 0 + serializedVersion: 13 + m_BakeOnSceneLoad: 1 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -96,7 +93,7 @@ LightmapSettings: m_ExportTrainingData: 0 m_TrainingDataDestination: TrainingData m_LightProbeSampleCountMultiplier: 4 - m_LightingDataAsset: {fileID: 0} + m_LightingDataAsset: {fileID: 112000000, guid: f948f72f69e9e78439fc504a8cbca162, type: 2} m_LightingSettings: {fileID: 211408990} --- !u!196 &4 NavMeshSettings: @@ -166,6 +163,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -187,9 +189,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!65 &81208244 BoxCollider: @@ -332,6 +336,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -353,9 +362,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!65 &126909664 BoxCollider: @@ -400,8 +411,7 @@ LightingSettings: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_Name: Settings.lighting - serializedVersion: 6 - m_GIWorkflowMode: 0 + serializedVersion: 10 m_EnableBakedLightmaps: 1 m_EnableRealtimeLightmaps: 1 m_RealtimeEnvironmentLighting: 1 @@ -411,9 +421,17 @@ LightingSettings: m_UsingShadowmask: 1 m_BakeBackend: 1 m_LightmapMaxSize: 1024 + m_LightmapSizeFixed: 0 + m_UseMipmapLimits: 1 m_BakeResolution: 40 m_Padding: 2 m_LightmapCompression: 3 + m_LightmapPackingMode: 1 + m_LightmapPackingMethod: 0 + m_XAtlasPackingAttempts: 16384 + m_XAtlasBruteForce: 0 + m_XAtlasBlockAlign: 0 + m_XAtlasRepackUnderutilizedLightmaps: 1 m_AO: 0 m_AOMaxDistance: 1 m_CompAOExponent: 1 @@ -424,13 +442,11 @@ LightingSettings: m_FilterMode: 1 m_LightmapParameters: {fileID: 15204, guid: 0000000000000000f000000000000000, type: 0} m_ExportTrainingData: 0 + m_EnableWorkerProcessBaking: 1 m_TrainingDataDestination: TrainingData m_RealtimeResolution: 2 m_ForceWhiteAlbedo: 0 m_ForceUpdates: 0 - m_FinalGather: 0 - m_FinalGatherRayCount: 256 - m_FinalGatherFiltering: 1 m_PVRCulling: 1 m_PVRSampling: 1 m_PVRDirectSampleCount: 32 @@ -454,8 +470,6 @@ LightingSettings: m_PVRFilteringAtrousPositionSigmaDirect: 0.5 m_PVRFilteringAtrousPositionSigmaIndirect: 2 m_PVRFilteringAtrousPositionSigmaAO: 1 - m_PVRTiledBaking: 0 - m_NumRaysToShootPerTexel: -1 m_RespectSceneVisibilityWhenBakingGI: 0 --- !u!114 &407337776 stripped MonoBehaviour: @@ -848,7 +862,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 8 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: srpShaderType @@ -918,6 +932,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -939,9 +958,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!65 &1094516504 BoxCollider: @@ -1138,15 +1159,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1484402643} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -1190,8 +1210,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 7.1e-44, z: 0, w: 6.930122e-29} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1484402645 Transform: m_ObjectHideFlags: 0 @@ -1251,6 +1275,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1272,9 +1301,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!65 &2010391084 BoxCollider: @@ -1356,6 +1387,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1377,9 +1413,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!65 &2035212746 BoxCollider: diff --git a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scripts/Core/OpenCVPackageDetector.cs b/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scripts/Core/OpenCVPackageDetector.cs deleted file mode 100644 index bc67fcff..00000000 --- a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scripts/Core/OpenCVPackageDetector.cs +++ /dev/null @@ -1,106 +0,0 @@ -#if UNITY_EDITOR - -using System.Collections; -using System.Collections.Generic; -using UnityEngine; -using UnityEditor; - - -/// -/// Enables/disables the ZED_OPENCV_FOR_UNITY compiler directive, depending on whether the ZED for OpenCV asset has been detected. -/// You need this package in your project to use the ZED plugin's ArUco detection classes and to run the example scenes. -/// You can get the package on the Unity Asset Store: https://assetstore.unity.com/packages/tools/integration/opencv-for-unity-21088 -/// -public class OpenCVPackageDetector : AssetPostprocessor -{ - [SerializeField] - static string defineName; - static string packageName; - - static void OnPostprocessAllAssets(string[] importedAssets, string[] deletedAssets, string[] movedAssets, string[] movedFromAssetPaths) - { - string opencvfilename = "opencvforunity.dll"; - opencvfilename = "opencvforunity"; - - //if(EditorPrefs.GetBool("ZEDOpenCV") == false && CheckPackageExists(opencvfilename)) - if(CheckPackageExists(opencvfilename)) - { - defineName = "ZED_OPENCV_FOR_UNITY"; - packageName = "ZEDOpenCV"; - ActivateDefine(); - } - //else if (EditorPrefs.GetBool("ZEDOpenCV") == true) - else - { - defineName = "ZED_OPENCV_FOR_UNITY"; - DeactivateDefine("ZEDOpenCV"); - } - } - - /// - /// Finds if a folder in the project exists with the specified name. - /// Used to check if a plugin has been imported, as the relevant plugins are placed - /// in a folder named after the package. Example: "Assets/Oculus". - /// - /// Package name. - /// - public static bool CheckPackageExists(string name) - { - string[] packages = AssetDatabase.FindAssets(name); - return packages.Length != 0; - } - - - /// - /// Activates a define tag in the project. Used to enable compiling sections of scripts with that tag enabled. - /// For instance, parts of this script under a #if ZED_STEAM_VR statement will be ignored by the compiler unless ZED_STEAM_VR is enabled. - /// - public static void ActivateDefine() - { - EditorPrefs.SetBool(packageName, true); - string defines = PlayerSettings.GetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone); - if (defines.Length != 0) - { - if (!defines.Contains(defineName)) - { - defines += ";" + defineName; - } - } - else - { - if (!defines.Contains(defineName)) - { - defines += defineName; - } - } - PlayerSettings.SetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone, defines); - } - - /// - /// Removes a define tag from the project. - /// Called whenever a package is checked for but not found. - /// Removing the define tags will prevent compilation of code marked with that tag, like #if ZED_OCULUS. - /// - public static void DeactivateDefine(string packagename) - { - EditorPrefs.SetBool(packagename, false); - string defines = PlayerSettings.GetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone); - if (defines.Length != 0) - { - if (defineName != null && defines.Contains(defineName)) - { - defines = defines.Remove(defines.IndexOf(defineName), defineName.Length); - - if (defines.LastIndexOf(";") == defines.Length - 1 && defines.Length != 0) - { - defines.Remove(defines.LastIndexOf(";"), 1); - } - } - } - PlayerSettings.SetScriptingDefineSymbols(UnityEditor.Build.NamedBuildTarget.Standalone, defines); - } - -} - -#endif - diff --git a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scripts/Core/OpenCVPackageDetector.cs.meta b/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scripts/Core/OpenCVPackageDetector.cs.meta deleted file mode 100644 index a459a33a..00000000 --- a/ZEDCamera/Assets/Samples~/OpenCV ArUco Detection/Scripts/Core/OpenCVPackageDetector.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: a3d0867bfbeac5447ba4b1b9997b3bad -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/Simple Plane Detection.unity b/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/Simple Plane Detection.unity index e3683e5d..417f42ed 100644 --- a/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/Simple Plane Detection.unity +++ b/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/Simple Plane Detection.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -184,7 +181,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: srpShaderType @@ -272,15 +269,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 630262881} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -324,8 +320,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 6e-44, z: 2.2e-44, w: 8.374e-42} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &630262884 Transform: m_ObjectHideFlags: 0 @@ -481,8 +481,7 @@ LightingSettings: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_Name: Settings.lighting - serializedVersion: 6 - m_GIWorkflowMode: 1 + serializedVersion: 10 m_EnableBakedLightmaps: 1 m_EnableRealtimeLightmaps: 1 m_RealtimeEnvironmentLighting: 1 @@ -492,9 +491,17 @@ LightingSettings: m_UsingShadowmask: 1 m_BakeBackend: 1 m_LightmapMaxSize: 1024 + m_LightmapSizeFixed: 0 + m_UseMipmapLimits: 1 m_BakeResolution: 40 m_Padding: 2 m_LightmapCompression: 3 + m_LightmapPackingMode: 1 + m_LightmapPackingMethod: 0 + m_XAtlasPackingAttempts: 16384 + m_XAtlasBruteForce: 0 + m_XAtlasBlockAlign: 0 + m_XAtlasRepackUnderutilizedLightmaps: 1 m_AO: 0 m_AOMaxDistance: 1 m_CompAOExponent: 1 @@ -505,13 +512,11 @@ LightingSettings: m_FilterMode: 1 m_LightmapParameters: {fileID: 15204, guid: 0000000000000000f000000000000000, type: 0} m_ExportTrainingData: 0 + m_EnableWorkerProcessBaking: 1 m_TrainingDataDestination: TrainingData m_RealtimeResolution: 2 m_ForceWhiteAlbedo: 0 m_ForceUpdates: 0 - m_FinalGather: 0 - m_FinalGatherRayCount: 256 - m_FinalGatherFiltering: 1 m_PVRCulling: 1 m_PVRSampling: 1 m_PVRDirectSampleCount: 32 @@ -535,8 +540,6 @@ LightingSettings: m_PVRFilteringAtrousPositionSigmaDirect: 0.5 m_PVRFilteringAtrousPositionSigmaIndirect: 2 m_PVRFilteringAtrousPositionSigmaAO: 1 - m_PVRTiledBaking: 0 - m_NumRaysToShootPerTexel: -1 m_RespectSceneVisibilityWhenBakingGI: 0 --- !u!1 &1210051178 GameObject: @@ -656,15 +659,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1729339555} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -708,8 +710,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 7.1e-44, z: 0, w: 2.051764e-27} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1729339557 Transform: m_ObjectHideFlags: 0 diff --git a/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/VR Only Plane Detection.unity b/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/VR Only Plane Detection.unity index 46510dd2..692bfcfc 100644 --- a/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/VR Only Plane Detection.unity +++ b/ZEDCamera/Assets/Samples~/Plane Detection/Scenes/VR Only Plane Detection.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -129,8 +126,7 @@ LightingSettings: m_PrefabInstance: {fileID: 0} m_PrefabAsset: {fileID: 0} m_Name: Settings.lighting - serializedVersion: 6 - m_GIWorkflowMode: 1 + serializedVersion: 10 m_EnableBakedLightmaps: 1 m_EnableRealtimeLightmaps: 1 m_RealtimeEnvironmentLighting: 1 @@ -140,9 +136,17 @@ LightingSettings: m_UsingShadowmask: 1 m_BakeBackend: 1 m_LightmapMaxSize: 1024 + m_LightmapSizeFixed: 0 + m_UseMipmapLimits: 1 m_BakeResolution: 40 m_Padding: 2 m_LightmapCompression: 3 + m_LightmapPackingMode: 1 + m_LightmapPackingMethod: 0 + m_XAtlasPackingAttempts: 16384 + m_XAtlasBruteForce: 0 + m_XAtlasBlockAlign: 0 + m_XAtlasRepackUnderutilizedLightmaps: 1 m_AO: 0 m_AOMaxDistance: 1 m_CompAOExponent: 1 @@ -153,13 +157,11 @@ LightingSettings: m_FilterMode: 1 m_LightmapParameters: {fileID: 15204, guid: 0000000000000000f000000000000000, type: 0} m_ExportTrainingData: 0 + m_EnableWorkerProcessBaking: 1 m_TrainingDataDestination: TrainingData m_RealtimeResolution: 2 m_ForceWhiteAlbedo: 0 m_ForceUpdates: 0 - m_FinalGather: 0 - m_FinalGatherRayCount: 256 - m_FinalGatherFiltering: 1 m_PVRCulling: 1 m_PVRSampling: 1 m_PVRDirectSampleCount: 32 @@ -183,8 +185,6 @@ LightingSettings: m_PVRFilteringAtrousPositionSigmaDirect: 0.5 m_PVRFilteringAtrousPositionSigmaIndirect: 2 m_PVRFilteringAtrousPositionSigmaAO: 1 - m_PVRTiledBaking: 0 - m_NumRaysToShootPerTexel: -1 m_RespectSceneVisibilityWhenBakingGI: 0 --- !u!1001 &406601173 PrefabInstance: @@ -255,7 +255,7 @@ PrefabInstance: value: 45 objectReference: {fileID: 0} - target: {fileID: 23075913095688566, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} - propertyPath: m_Materials.Array.data[0] + propertyPath: 'm_Materials.Array.data[0]' value: objectReference: {fileID: 2100000, guid: 9e0ce7c1c09fe2541bf6202cef4b0d0c, type: 2} - target: {fileID: 33711742071643766, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} @@ -295,11 +295,11 @@ PrefabInstance: value: 2 objectReference: {fileID: 0} - target: {fileID: 114380879406418918, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} - propertyPath: placeHolderMat.Array.data[0] + propertyPath: 'placeHolderMat.Array.data[0]' value: objectReference: {fileID: 2100000, guid: 8c191c3046c025b4584bcfcf4a5f46ce, type: 2} - target: {fileID: 114380879406418918, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} - propertyPath: placeHolderMat.Array.data[1] + propertyPath: 'placeHolderMat.Array.data[1]' value: objectReference: {fileID: 2100000, guid: 1afc1a2666b033a4b9ee6e36cb577b8a, type: 2} - target: {fileID: 114397233949422500, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} @@ -319,19 +319,19 @@ PrefabInstance: value: 2 objectReference: {fileID: 0} - target: {fileID: 114762965782928386, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} - propertyPath: badPlacementTex.Array.data[0] + propertyPath: 'badPlacementTex.Array.data[0]' value: objectReference: {fileID: 2800000, guid: 6cae7f5684515a04b98d208d3d8c16ed, type: 3} - target: {fileID: 114762965782928386, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} - propertyPath: badPlacementTex.Array.data[1] + propertyPath: 'badPlacementTex.Array.data[1]' value: objectReference: {fileID: 2800000, guid: 1978663b19a840f4096000c039a6bf84, type: 3} - target: {fileID: 114762965782928386, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} - propertyPath: goodPlacementTex.Array.data[0] + propertyPath: 'goodPlacementTex.Array.data[0]' value: objectReference: {fileID: 2800000, guid: f6d1923cc5b827e4b9c373156b027ad4, type: 3} - target: {fileID: 114762965782928386, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} - propertyPath: goodPlacementTex.Array.data[1] + propertyPath: 'goodPlacementTex.Array.data[1]' value: objectReference: {fileID: 2800000, guid: 8cf16a9446836704e9c64c8ec86e3d33, type: 3} - target: {fileID: 114819210581546514, guid: 201563e25e8761a40adb2b278a2fb4f7, type: 3} @@ -443,15 +443,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 630262881} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -495,8 +494,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 6e-44, z: 2.7e-44, w: 1.4936e-41} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &630262884 Transform: m_ObjectHideFlags: 0 @@ -582,7 +585,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: lefteyelayer @@ -722,15 +725,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1729339555} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -774,8 +776,12 @@ Light: m_BoundingSphereOverride: {x: 7.13e-43, y: 6e-44, z: 2.4e-44, w: 7.22e-42} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1729339557 Transform: m_ObjectHideFlags: 0 diff --git a/ZEDCamera/Assets/Samples~/Planetarium/Scene/Planetarium.unity b/ZEDCamera/Assets/Samples~/Planetarium/Scene/Planetarium.unity index 9a2af061..551e1997 100644 --- a/ZEDCamera/Assets/Samples~/Planetarium/Scene/Planetarium.unity +++ b/ZEDCamera/Assets/Samples~/Planetarium/Scene/Planetarium.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 0 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 2 m_BakeBackend: 0 @@ -633,7 +630,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: srpShaderType @@ -859,15 +856,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1756706322} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 0 m_Resolution: -1 @@ -911,8 +907,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 6e-44, z: 4e-45, w: 7.483e-42} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1756706324 Transform: m_ObjectHideFlags: 0 diff --git a/ZEDCamera/Assets/Samples~/Point Cloud/PointCloud.unity b/ZEDCamera/Assets/Samples~/Point Cloud/PointCloud.unity index ec463b28..d22d90e2 100644 --- a/ZEDCamera/Assets/Samples~/Point Cloud/PointCloud.unity +++ b/ZEDCamera/Assets/Samples~/Point Cloud/PointCloud.unity @@ -363,7 +363,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: bodyFitting diff --git a/ZEDCamera/Assets/Samples~/Simple MR/Scenes/SimpleMR.unity b/ZEDCamera/Assets/Samples~/Simple MR/Scenes/SimpleMR.unity index 68efff6f..385417d7 100644 --- a/ZEDCamera/Assets/Samples~/Simple MR/Scenes/SimpleMR.unity +++ b/ZEDCamera/Assets/Samples~/Simple MR/Scenes/SimpleMR.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.9044118, g: 0.21280277, b: 0.21280277, a: 1} m_FogMode: 1 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 15203, guid: 0000000000000000f000000000000000, type: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 0 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 1 m_BakeBackend: 0 @@ -213,6 +210,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -234,9 +236,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &220556364 SphereCollider: @@ -350,6 +354,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -371,9 +380,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &474826552 SphereCollider: @@ -455,6 +466,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -476,9 +492,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &597016063 SphereCollider: @@ -545,6 +563,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -566,9 +589,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!65 &643072752 BoxCollider: @@ -665,6 +690,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -686,9 +716,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &686831611 SphereCollider: @@ -770,6 +802,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -791,9 +828,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &803786420 SphereCollider: @@ -875,6 +914,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -896,9 +940,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &874528762 SphereCollider: @@ -980,6 +1026,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1001,9 +1052,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &997463273 SphereCollider: @@ -1108,7 +1161,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3} propertyPath: sensingMode @@ -1210,6 +1263,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1231,9 +1289,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &1508528281 SphereCollider: @@ -1290,15 +1350,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1928171911} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 1 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: 1 @@ -1342,8 +1401,12 @@ Light: m_BoundingSphereOverride: {x: 1.02e-43, y: 6e-44, z: 1.4e-44, w: 7.92e-42} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &1928171913 Transform: m_ObjectHideFlags: 0 @@ -1424,6 +1487,11 @@ MeshRenderer: m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 m_RayTraceProcedural: 0 + m_RayTracingAccelStructBuildFlagsOverride: 0 + m_RayTracingAccelStructBuildFlags: 1 + m_SmallMeshCulling: 1 + m_ForceMeshLod: -1 + m_MeshLodSelectionBias: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -1445,9 +1513,11 @@ MeshRenderer: m_AutoUVMaxDistance: 0.5 m_AutoUVMaxAngle: 89 m_LightmapParameters: {fileID: 0} + m_GlobalIlluminationMeshLod: 0 m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_MaskInteraction: 0 m_AdditionalVertexStreams: {fileID: 0} --- !u!135 &2139830473 SphereCollider: diff --git a/ZEDCamera/Assets/Samples~/Spatial Mapping/Scenes/SpatialMapping.unity b/ZEDCamera/Assets/Samples~/Spatial Mapping/Scenes/SpatialMapping.unity index 12978a32..aa6fc283 100644 --- a/ZEDCamera/Assets/Samples~/Spatial Mapping/Scenes/SpatialMapping.unity +++ b/ZEDCamera/Assets/Samples~/Spatial Mapping/Scenes/SpatialMapping.unity @@ -13,7 +13,7 @@ OcclusionCullingSettings: --- !u!104 &2 RenderSettings: m_ObjectHideFlags: 0 - serializedVersion: 9 + serializedVersion: 10 m_Fog: 0 m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} m_FogMode: 3 @@ -42,8 +42,8 @@ RenderSettings: --- !u!157 &3 LightmapSettings: m_ObjectHideFlags: 0 - serializedVersion: 12 - m_GIWorkflowMode: 1 + serializedVersion: 13 + m_BakeOnSceneLoad: 0 m_GISettings: serializedVersion: 2 m_BounceScale: 1 @@ -66,9 +66,6 @@ LightmapSettings: m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 m_ReflectionCompression: 2 m_MixedBakeMode: 1 m_BakeBackend: 0 @@ -207,15 +204,14 @@ Light: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 596581993} m_Enabled: 1 - serializedVersion: 10 + serializedVersion: 12 m_Type: 1 - m_Shape: 0 m_Color: {r: 1, g: 1, b: 1, a: 1} m_Intensity: 100000 m_Range: 10 m_SpotAngle: 30 m_InnerSpotAngle: 21.80208 - m_CookieSize: 10 + m_CookieSize2D: {x: 10, y: 10} m_Shadows: m_Type: 2 m_Resolution: -1 @@ -259,8 +255,12 @@ Light: m_BoundingSphereOverride: {x: 0, y: 6e-44, z: 2.1e-44, w: 9.456e-42} m_UseBoundingSphereOverride: 0 m_UseViewFrustumForShadowCasterCull: 1 + m_ForceVisible: 0 m_ShadowRadius: 0 m_ShadowAngle: 0 + m_LightUnit: 1 + m_LuxAtDistance: 1 + m_EnableSpotReflector: 1 --- !u!4 &596581995 Transform: m_ObjectHideFlags: 0 @@ -348,7 +348,7 @@ PrefabInstance: objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: resolution - value: 9 + value: 11 objectReference: {fileID: 0} - target: {fileID: 114711245158774928, guid: e13ee7e0790c7d243b7aa67fe604acac, type: 3} propertyPath: srpShaderType diff --git a/ZEDCamera/Assets/package.json b/ZEDCamera/Assets/package.json index 0088d94f..77bdbcf9 100644 --- a/ZEDCamera/Assets/package.json +++ b/ZEDCamera/Assets/package.json @@ -1,6 +1,6 @@ { "name": "com.stereolabs.zed", - "version": "5.2.1", + "version": "5.3.0", "displayName": "ZED SDK", "description": "This package brings the features of the ZED cameras into Unity", "unity": "2022.3",