push to sdk 4.0.6 (#28)

* add new plane detection parameter

* remove body 70 from ai models

* add missing copy

* update c lib

* change default input to usb

Author: Bvallon-sl

Content/ZED/Blueprints/BodyTracking/ABP_ZED_Manny.uasset

@@ -579,9 +579,9 @@ enum class ESlAIModels : uint8
 	AIM_HumanBody38FastDetection		UMETA(DisplayName = "Human body 38 fast Detection"),
 	AIM_HumanBody38MediumDetection		UMETA(DisplayName = "Human body 38 medium Detection"),
 	AIM_HumanBody38AccurateDetection	UMETA(DisplayName = "Human body 38 accurate Detection"),
-	AIM_HumanBody70FastDetection		UMETA(DisplayName = "Human body 70 fast Detection"),
-	AIM_HumanBody70MediumDetection		UMETA(DisplayName = "Human body 70 medium Detection"),
-	AIM_HumanBody70AccurateDetection	UMETA(DisplayName = "Human body 70 accurate Detection"),
+	//AIM_HumanBody70FastDetection		UMETA(DisplayName = "Human body 70 fast Detection"),
+	//AIM_HumanBody70MediumDetection		UMETA(DisplayName = "Human body 70 medium Detection"),
+	//AIM_HumanBody70AccurateDetection	UMETA(DisplayName = "Human body 70 accurate Detection"),
 	AIM_PersonHeadFastDetection			UMETA(DisplayName = "Person head fast Detection"),
 	AIM_PersonHeadAccurateDetection		UMETA(DisplayName = "Person head accurate Detection"),
 	AIM_REIDAssociation					UMETA(DisplayName = "REID Association"),
@@ -1037,7 +1037,8 @@ struct STEREOLABS_API FSlCameraParameters
 		HFocal(0.0f),
 		VFocal(0.0f),
 		OpticalCenterX(0.0f),
-		OpticalCenterY(0.0f)
+		OpticalCenterY(0.0f),
+		FocalLengthMetric(0.0f)
 	{
 	}
 
@@ -1072,6 +1073,10 @@ struct STEREOLABS_API FSlCameraParameters
 	/** Vertical position of the optical center in pixels */
 	UPROPERTY(BlueprintReadOnly)
 	float OpticalCenterY;
+
+	/**  Real focal length in millimeters */
+	UPROPERTY(BlueprintReadOnly)
+	float FocalLengthMetric;
 };
 
 /*
@@ -1365,6 +1370,39 @@ struct STEREOLABS_API FSlSpatialMappingParameters
 	bool bUseChunkOnly = false;
 };
 
+/**
+	\class PlaneDetectionParameters
+	\brief Sets the plane detection parameters.
+
+	The default constructor sets all parameters to their default settings.
+ */
+USTRUCT(BlueprintType, Category = "Stereolabs|Types")
+struct STEREOLABS_API FSlPlaneDetectionParameters
+{
+	GENERATED_BODY()
+
+		FSlPlaneDetectionParameters()
+		:
+		MaxDistanceThreshold(0.15f),
+		NormalSimilarityThreshold(15.0f)
+	{
+	}
+
+	/**
+	 \brief controls the spread of plane by checking the position difference.
+	 \n default: 0.15 meters
+	 */
+	UPROPERTY(BlueprintReadOnly)
+	float MaxDistanceThreshold;
+
+	/**
+	 \brief controls the spread of plane by checking the angle difference.
+	 \n default: 15 degree
+	 */
+	UPROPERTY(BlueprintReadOnly)
+	float NormalSimilarityThreshold;
+};
+
 /*
  * SDK recording state
  * see sl::RecordingState

Content/ZED/Blueprints/PlaneDetection/BP_PlaneDetection_Mesh.uasset

@@ -1589,6 +1589,7 @@ namespace sl
 			CameraParameters.VFocal = SlData.fy;
 			CameraParameters.OpticalCenterX = SlData.cx;
 			CameraParameters.OpticalCenterY = SlData.cy;
+			CameraParameters.FocalLengthMetric = SlData.focal_length_metric;
 
 			std::vector<double> Tmp;
 			Tmp.assign(SlData.disto, SlData.disto + 5);
@@ -1612,6 +1613,7 @@ namespace sl
 			CameraParameters.VFocal = SlData.fy;
 			CameraParameters.OpticalCenterX = SlData.cx;
 			CameraParameters.OpticalCenterY = SlData.cy;
+			CameraParameters.FocalLengthMetric = SlData.focal_length_metric;
 
 			std::vector<double> Tmp;
 			Tmp.assign(SlData.disto, SlData.disto + 5);
@@ -2295,6 +2297,19 @@ namespace sl
 			return sl::MeshFilterParameters(sl::unreal::ToSlType(UnrealData.FilterIntensity));
 		}
 
+		/*
+	 * Convert from FSlPlaneDetectionParameters to sl::PlaneDetectionParameters
+	 */
+		FORCEINLINE SL_PlaneDetectionParameters ToSlType(const FSlPlaneDetectionParameters& UnrealData)
+		{
+			struct SL_PlaneDetectionParameters PlaneDetectionParameters;
+
+			PlaneDetectionParameters.max_distance_threshold = UnrealData.MaxDistanceThreshold;
+			PlaneDetectionParameters.normal_similarity_threshold = UnrealData.NormalSimilarityThreshold;
+
+			return PlaneDetectionParameters;
+		}
+
 		/*
 		* Convert from sl::CameraParameters to FSlCameraParameters
 		*/
@@ -2309,11 +2324,20 @@ namespace sl
 			CameraParameters.cx = UnrealData.OpticalCenterX;
 			CameraParameters.cy = UnrealData.OpticalCenterY;
 
+			CameraParameters.focal_length_metric = UnrealData.FocalLengthMetric;
+
 			CameraParameters.disto[0] = UnrealData.Disto[0];
 			CameraParameters.disto[1] = UnrealData.Disto[1];
 			CameraParameters.disto[2] = UnrealData.Disto[2];
 			CameraParameters.disto[3] = UnrealData.Disto[3];
 			CameraParameters.disto[4] = UnrealData.Disto[4];
+			CameraParameters.disto[5] = UnrealData.Disto[5];
+			CameraParameters.disto[6] = UnrealData.Disto[6];
+			CameraParameters.disto[7] = UnrealData.Disto[7];
+			CameraParameters.disto[8] = UnrealData.Disto[8];
+			CameraParameters.disto[9] = UnrealData.Disto[9];
+			CameraParameters.disto[10] = UnrealData.Disto[10];
+			CameraParameters.disto[11] = UnrealData.Disto[11];
 
 			CameraParameters.image_size = sl::unreal::ToSlType2(UnrealData.Resolution);