Feature/open source refactor

.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

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<ZEDPluginInspector>(true);
             window.maxSize = new Vector2(400, 600);

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

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: 

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);

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)
     /// <param name="bluredMask">Mask used to apply blurring effects.</param>
     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);

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);
 

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()
     /// <returns>True if texture was successfully retrieved; false otherwise.</returns>
     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;
         }
     }

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()
     /// <returns>True if texture was successfully retrieved; false otherwise.</returns>
     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;
         }
     }

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));
         }

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;