fix memory leak, remove obselete parameter

ZEDCamera/Assets/Editor/Scripts/ZEDCameraEditor.cs

@@ -110,7 +110,6 @@ public class ZEDCameraEditor : Editor
     private SerializedProperty meshPath;
 
     //Object Detection Prop
-    //private SerializedProperty OD_ImageSyncMode;
     private SerializedProperty OD_ObjectTracking;
     private SerializedProperty OD_2DMask;
     private SerializedProperty OD_DetectionModel;
@@ -134,7 +133,6 @@ public class ZEDCameraEditor : Editor
     private SerializedProperty OD_FruitVegetableFilter;
     private SerializedProperty OD_SportFilter;
     //Body Tracking
-    private SerializedProperty BT_ImageSyncMode;
     private SerializedProperty BT_ObjectTracking;
     private SerializedProperty BT_2DMask;
     private SerializedProperty BT_DetectionModel;
@@ -283,7 +281,6 @@ private void OnEnable()
         meshPath = serializedObject.FindProperty("meshPath");
 
         ///Object Detection Serialized Properties
-        //OD_ImageSyncMode = serializedObject.FindProperty("objectDetectionImageSyncMode");
         OD_ObjectTracking = serializedObject.FindProperty("objectDetectionTracking");
 
         OD_2DMask = serializedObject.FindProperty("objectDetection2DMask");
@@ -311,7 +308,6 @@ private void OnEnable()
 
         // Body tracking serialied properties
 
-        BT_ImageSyncMode = serializedObject.FindProperty("bodyTrackingImageSyncMode");
         BT_ObjectTracking = serializedObject.FindProperty("bodyTrackingTracking");
         BT_2DMask = serializedObject.FindProperty("bodyTracking2DMask");
         BT_DetectionModel = serializedObject.FindProperty("bodyTrackingModel");

ZEDCamera/Assets/SDK/Helpers/Scripts/ObjectDetection/DetectedBody.cs

@@ -295,7 +295,8 @@ public bool GetMaskTexture(out Texture2D masktex, bool fliponYaxis)
             if (maskTexture == null)
             {
                 IntPtr maskpointer = maskMat.GetPtr(sl.ZEDMat.MEM.MEM_CPU);
-                if (maskpointer != IntPtr.Zero)
+
+                if (maskpointer != IntPtr.Zero && maskMat.IsInit())
                 {
                     maskTexture = ZEDMatToTexture_CPU(maskMat, false);
                 }

ZEDCamera/Assets/SDK/Helpers/Scripts/ZEDManager.cs

@@ -422,12 +422,6 @@ public enum shaderType
     [HideInInspector]
     public uint objectDetectionInstanceID = 0;
 
-    /// <summary>
-    /// Sync the Object on the image.
-    /// </summary>
-    [HideInInspector]
-    public bool objectDetectionImageSyncMode = true;
-
     /// <summary>
     /// Whether to track objects across multiple frames using the ZED's position relative to the floor.
     /// Requires tracking to be on. It's also recommended to enable Estimate Initial Position to find the floor.
@@ -654,12 +648,6 @@ public enum shaderType
     [HideInInspector]
     public uint bodyTrackingInstanceID = 1;
 
-    /// <summary>
-    /// Sync the Object on the image.
-    /// </summary>
-    [HideInInspector]
-    public bool bodyTrackingImageSyncMode = true;
-
     /// <summary>
     /// Whether to track objects across multiple frames using the ZED's position relative to the floor.
     /// Requires tracking to be on. It's also recommended to enable Estimate Initial Position to find the floor.
@@ -2546,8 +2534,7 @@ private void AcquireImages()
                     float camera_fps = zedCamera.GetCameraFPS();
                     cameraFPS = camera_fps.ToString() + " FPS";
 #endif
-                    //Update object detection here if using object sync.
-                    if (objectDetectionRunning && objectDetectionImageSyncMode && requestobjectsframe)
+                    if (objectDetectionRunning && requestobjectsframe)
                     {
                         if (objectDetectionModel == sl.OBJECT_DETECTION_MODEL.CUSTOM_BOX_OBJECTS)
                         {
@@ -2557,8 +2544,7 @@ private void AcquireImages()
                         RetrieveObjectDetectionFrame();
                     }
 
-                    //Update body tracking here if using object sync.
-                    if (bodyTrackingRunning && bodyTrackingImageSyncMode && requestBodiesframe)
+                    if (bodyTrackingRunning && requestBodiesframe)
                     {
                         RetrieveBodyTrackingFrame();
                     }
@@ -3124,10 +3110,8 @@ private IEnumerator startObjectDetection()
             odIsStarting = true;
             Debug.LogWarning("Starting Object Detection. This may take a moment.");
 
-            objectDetectionImageSyncMode = true;
             sl.ObjectDetectionParameters od_param = new sl.ObjectDetectionParameters();
             od_param.instanceModuleID = objectDetectionInstanceID;
-            od_param.imageSync = objectDetectionImageSyncMode;
             od_param.enableTracking = objectDetectionTracking;
             od_param.enableSegmentation = objectDetection2DMask;
             od_param.detectionModel = objectDetectionModel;
@@ -3213,10 +3197,6 @@ public void UpdateObjectDetection()
         objectDetectionRuntimeParameters.objectClassFilter[(int)sl.OBJECT_CLASS.FRUIT_VEGETABLE] = Convert.ToInt32(objectClassFruitVegetableFilter);
         objectDetectionRuntimeParameters.objectClassFilter[(int)sl.OBJECT_CLASS.SPORT] = Convert.ToInt32(objectClassSportFilter);
 
-
-
-        if (objectDetectionImageSyncMode == false) RetrieveObjectDetectionFrame(); //If true, this is called in the AcquireImages function in the image acquisition thread.
-
         if (newobjectsframeready)
         {
             lock (zedCamera.grabLock)
@@ -3368,7 +3348,6 @@ private IEnumerator startBodyTracking()
 
             sl.BodyTrackingParameters bt_param = new sl.BodyTrackingParameters();
             bt_param.instanceModuleID = bodyTrackingInstanceID;
-            bt_param.imageSync = bodyTrackingImageSyncMode;
             bt_param.enableTracking = bodyTrackingTracking;
             bt_param.enableSegmentation = bodyTracking2DMask;
             bt_param.detectionModel = bodyTrackingModel;
@@ -3426,8 +3405,6 @@ public void UpdateBodiesTracking()
         bodyTrackingRuntimeParams.minimumKeypointsThreshold = bodyTrackingMinimumKPThreshold;
         bodyTrackingRuntimeParams.skeletonSmoothing = bodyTrackingSkeletonSmoothing;
 
-        if (bodyTrackingImageSyncMode == false) RetrieveBodyTrackingFrame(); //If true, this is called in the AcquireImages function in the image acquisition thread.
-
         if (newbodiesframeready)
         {
             lock (zedCamera.grabLock)

ZEDCamera/Assets/SDK/NativeInterface/ZEDCommon.cs

@@ -2165,11 +2165,6 @@ public struct ObjectDetectionParameters
         /// </summary>
         public uint instanceModuleID;
         /// <summary>
-        /// Defines if the object detection is synchronized to the image or runs in a separate thread.
-        /// </summary>
-        [MarshalAs(UnmanagedType.U1)]
-        public bool imageSync;
-        /// <summary>
         /// Defines if the object detection will track objects across multiple images, instead of an image-by-image basis.
         /// </summary>
         [MarshalAs(UnmanagedType.U1)]
@@ -2461,11 +2456,6 @@ public struct BodyTrackingParameters
         /// </summary>
         public uint instanceModuleID;
         /// <summary>
-        /// Defines if the object detection is synchronized to the image or runs in a separate thread.
-        /// </summary>
-        [MarshalAs(UnmanagedType.U1)]
-        public bool imageSync;
-        /// <summary>
         /// Defines if the object detection will track objects across multiple images, instead of an image-by-image basis.
         /// </summary>
         [MarshalAs(UnmanagedType.U1)]

ZEDCamera/Assets/Samples~/Object Detection/Scripts/ZED2DObjectVisualizer.cs

@@ -248,9 +248,9 @@ public void Visualize2DBoundingBoxes(ObjectDetectionFrame dframe)
             bbox.sizeDelta = new Vector2(objrect.width, objrect.height);
             bbox.anchoredPosition = new Vector2(objrect.x, objrect.y);
 
-
+            bool ShowMaskIsEnabled = detectionMode == DetectionMode.BodyTracking ? zedManager.bodyTracking2DMask : zedManager.objectDetection2DMask;
             //Apply the mask.
-            if (showObjectMask)
+            if (showObjectMask && ShowMaskIsEnabled)
             {
                 //Make a new image for this new mask.
                 Texture2D maskimage;
@@ -310,9 +310,11 @@ public void Visualize2DBoundingBoxes(BodyTrackingFrame dframe)
             //Adjust the size of the RectTransform to encompass the object.
             bbox.sizeDelta = new Vector2(objrect.width, objrect.height);
             bbox.anchoredPosition = new Vector2(objrect.x, objrect.y);
-
+
+            bool ShowMaskIsEnabled = detectionMode == DetectionMode.BodyTracking ? zedManager.bodyTracking2DMask : zedManager.objectDetection2DMask;
+
             //Apply the mask.
-            if (showObjectMask)
+            if (showObjectMask && ShowMaskIsEnabled)
             {
                 //Make a new image for this new mask.
                 Texture2D maskimage;