remove debug svo paths (#275)

stereolabs · Nov 30, 2023 · 39ecf09 · 39ecf09
1 parent 9b50fb8
commit 39ecf09
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Showing 14 changed files with 318 additions and 99 deletions.
diff --git a/ZEDCamera/Assets/ZED/Editor/Scripts/ZEDCameraEditor.cs b/ZEDCamera/Assets/ZED/Editor/Scripts/ZEDCameraEditor.cs
@@ -110,7 +110,7 @@ public class ZEDCameraEditor : Editor
     private SerializedProperty meshPath;
 
     //Object Detection Prop
-    private SerializedProperty OD_ImageSyncMode;
+    //private SerializedProperty OD_ImageSyncMode;
     private SerializedProperty OD_ObjectTracking;
     private SerializedProperty OD_2DMask;
     private SerializedProperty OD_DetectionModel;
@@ -283,7 +283,7 @@ private void OnEnable()
         meshPath = serializedObject.FindProperty("meshPath");
 
         ///Object Detection Serialized Properties
-        OD_ImageSyncMode = serializedObject.FindProperty("objectDetectionImageSyncMode");
+        //OD_ImageSyncMode = serializedObject.FindProperty("objectDetectionImageSyncMode");
         OD_ObjectTracking = serializedObject.FindProperty("objectDetectionTracking");
 
         OD_2DMask = serializedObject.FindProperty("objectDetection2DMask");
@@ -1002,6 +1002,10 @@ public override void OnInspectorGUI()
             GUIContent BT_MaxRangeLabel = new GUIContent("Max Detection Range", "Defines a upper depth range for detections.");
             BT_MaxRange.floatValue = EditorGUILayout.Slider(BT_MaxRangeLabel, BT_MaxRange.floatValue, 0, 40.0f);
 
+            GUIContent BT_Object2DMaskLabel = new GUIContent("Enable Segmentation", "Whether to calculate 2D masks for each object, showing exactly which pixels within the 2D bounding box are the object.\r\n\n" +
+                "Must be on when Object Detection starts. Requires more performance, so do not enable unless needed.");
+            BT_2DMask.boolValue = EditorGUILayout.Toggle(BT_Object2DMaskLabel, BT_2DMask.boolValue);
+
             GUIContent BT_AllowReducedPrecisionInferenceLabel = new GUIContent("Allow Reduced Precision Inference", "Allow inference to run at a lower precision to improve runtime and memory usage.");
             BT_AllowReducedPrecisionInference.boolValue = EditorGUILayout.Toggle(BT_AllowReducedPrecisionInferenceLabel, BT_AllowReducedPrecisionInference.boolValue);
 

diff --git a/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingMulti.unity b/ZEDCamera/Assets/ZED/Examples/Body Tracking/Scene/BodyTrackingMulti.unity
@@ -397,7 +397,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: advancedPanelOpen
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: bodyTrackingModel
@@ -661,13 +661,17 @@ PrefabInstance:
       propertyPath: manualOffset.y
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, type: 3}
+      propertyPath: manualOffset.z
+      value: 0.1
+      objectReference: {fileID: 0}
     - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, type: 3}
       propertyPath: smoothingValue
       value: 0.5
       objectReference: {fileID: 0}
     - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, type: 3}
       propertyPath: automaticOffset
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 6327103935139800441, guid: ca18a88838151284380d84fc86d327e5, type: 3}
       propertyPath: enableSmoothing

diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/2D Object Detection.unity b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/2D Object Detection.unity
@@ -373,7 +373,7 @@ MonoBehaviour:
   - {r: 0.412, g: 0.4, b: 0.804, a: 1}
   - {r: 1, g: 0.725, b: 0, a: 1}
   - {r: 0.989, g: 0.388, b: 0.419, a: 1}
-  showObjectMask: 0
+  showObjectMask: 1
   showONTracked: 1
   showSEARCHINGTracked: 0
   showOFFTracked: 1
@@ -611,7 +611,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: bodyTrackingFoldoutOpen
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: estimateInitialPosition
@@ -643,7 +643,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionFoldoutOpen
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionImageSyncMode

diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/3D Object Detection.unity b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/3D Object Detection.unity
@@ -218,13 +218,17 @@ PrefabInstance:
       propertyPath: svoRealTimeMode
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
+      propertyPath: setFloorAsOrigin
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: svoInputFileName
       value: 
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: trackingIsStatic
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: advancedPanelOpen
@@ -286,6 +290,10 @@ PrefabInstance:
       propertyPath: objectDetectionFoldoutOpen
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
+      propertyPath: objectDetectionFilteringMode
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionImageSyncMode
       value: 1

diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/Custom Object Detection.unity b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scenes/Custom Object Detection.unity
@@ -166,177 +166,143 @@ PrefabInstance:
       propertyPath: m_LocalRotation.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: FPS
       value: 30
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: depthMode
       value: 3
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: inputType
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: resolution
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: sensingMode
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: svoLoopBack
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: streamInputIP
       value: 127.0.0.1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: depthOcclusion
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: enableTracking
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: m_maxDepthRange
       value: 40
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: svoRealTimeMode
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: svoInputFileName
       value: 
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: trackingIsStatic
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: advancedPanelOpen
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: enableSpatialMemory
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionModel
       value: 5
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: recordingFoldoutOpen
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: camControlFoldoutOpen
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetection2DMask
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: estimateInitialPosition
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectClassPersonFilter
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionTracking
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectClassVehicleFilter
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionFoldoutOpen
       value: 1
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionImageSyncMode
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: bagDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: animalDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: objectDetectionConfidenceThreshold
       value: 50
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: personDetectionConfidenceThreshold
       value: 20
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: vehicleDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: OD_personDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: electronicsDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
-    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-        type: 3}
+    - target: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
       propertyPath: fruitVegetableDetectionConfidenceThreshold
       value: 60
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
 --- !u!114 &56380649 stripped
 MonoBehaviour:
-  m_CorrespondingSourceObject: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42,
-    type: 3}
+  m_CorrespondingSourceObject: {fileID: 114491592745282986, guid: 76db3eb81fd21ae45bab5204e324ae42, type: 3}
   m_PrefabInstance: {fileID: 56380648}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 0}
@@ -485,9 +451,9 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   zedManager: {fileID: 56380649}
-  startObjectDetectionAutomatically: 1
-  boundingBoxPrefab: {fileID: 1438017172825460, guid: 2d803190bc4738d4daf5932468a5495e,
-    type: 3}
+  detectionMode: 0
+  startAIModuleAutomatically: 0
+  boundingBoxPrefab: {fileID: 1438017172825460, guid: 2d803190bc4738d4daf5932468a5495e, type: 3}
   boxColors:
   - {r: 0.23137257, g: 0.909804, b: 0.6901961, a: 1}
   - {r: 0.098039225, g: 0.6862745, b: 0.81568635, a: 1}
@@ -514,9 +480,9 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 476f190cf5e4a3b42af5473614db052f, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  model: Assets/OpenCVForUnity/StreamingAssets/dnn/yolov4-tiny.weights
-  config: Assets/OpenCVForUnity/StreamingAssets/dnn/yolov4-tiny.cfg
-  classes: Assets/OpenCVForUnity/StreamingAssets/dnn/coco.names
+  model: Assets/StreamingAssets/OpenCVForUnity/dnn/yolov4-tiny.weights
+  config: Assets/StreamingAssets/OpenCVForUnity/dnn/yolov4-tiny.cfg
+  classes: Assets/StreamingAssets/OpenCVForUnity/dnn/coco.names
   classesFilter: []
   confThreshold: 0.25
   nmsThreshold: 0.25

diff --git a/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs b/ZEDCamera/Assets/ZED/Examples/Object Detection/Scripts/ZED2DObjectVisualizer.cs
@@ -534,10 +534,11 @@ private void OnValidate()
         {
             lastShowObjectMaskValue = showObjectMask;
             if (!zedManager) zedManager = ZEDManager.GetInstance(sl.ZED_CAMERA_ID.CAMERA_ID_01);
-            if (showObjectMask == true && zedManager != null && zedManager.objectDetection2DMask == false)
+            bool ShowMaskIsEnabled = detectionMode == DetectionMode.BodyTracking ? zedManager.bodyTracking2DMask : zedManager.objectDetection2DMask;
+            if (showObjectMask == true && zedManager != null && !ShowMaskIsEnabled)
             {
-                Debug.LogError("ZED2DObjectVisualizer has showObjectMask enabled, but its ZEDManager has objectDetection2DMask disabled. " +
-                "objectDetection2DMask must be enabled when Object Detection is started or masks will not be visible.");
+                Debug.LogError("ZED2DObjectVisualizer has showObjectMask enabled, but its ZEDManager has objectDetection2DMask/bodyTracking2DMask disabled, depending on which detection mode you are using. " +
+                "objectDetection2DMask/bodyTracking2DMask must be enabled when Object Detection / Body Tracking is started or masks will not be visible.");
             }
         }
     }