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update to sdk v4.0.7 (#32)
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10 files changed

+3036
-1770
lines changed

10 files changed

+3036
-1770
lines changed

‎Content/ZED/Assets/Mannequin/Mesh/ZED_Manny/CR_ZED_Manny_FootIK.uasset

-92.6 KB
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‎Content/ZED/Levels/L_BodyTrackingSingle.umap

4 Bytes
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‎Plugins/Stereolabs/Source/Stereolabs/Private/Core/StereolabsCameraProxy.cpp

+53
Original file line numberDiff line numberDiff line change
@@ -261,6 +261,7 @@ void USlCameraProxy::Internal_OpenCamera(const FSlInitParameters& InitParameters
261261
sl_init_parameters.async_grab_camera_recovery = InitParameters.bAsyncGrabCameraRecovery;
262262
sl_init_parameters.open_timeout_sec = InitParameters.OpenTimeoutSec;
263263
sl_init_parameters.grab_compute_capping_fps = InitParameters.GrabComputeCappingFPS;
264+
sl_init_parameters.enable_image_validity_check = InitParameters.bEnableImageValidityCheck;
264265

265266
InputType = (SL_INPUT_TYPE)InitParameters.InputType;
266267
bool IsCameraCreated = sl_create_camera(CameraID);
@@ -569,6 +570,37 @@ ESlTrackingState USlCameraProxy::GetPosition(FSlPose& Pose, ESlReferenceFrame Re
569570
SL_SCOPE_UNLOCK
570571
}
571572

573+
ESlErrorCode USlCameraProxy::SetRegionOfInterest(FSlMat& Mat)
574+
{
575+
SL_ERROR_CODE err = (SL_ERROR_CODE)sl_set_region_of_interest(CameraID, Mat.Mat);
576+
return sl::unreal::ToUnrealType(err);
577+
}
578+
579+
ESlErrorCode USlCameraProxy::GetRegionOfInterest(FSlMat& Mat, FIntPoint& resolution)
580+
{
581+
if (!Mat.Mat) {
582+
Mat.Mat = sl_mat_create_new(resolution.X, resolution.Y, SL_MAT_TYPE_U8_C1, SL_MEM_CPU);
583+
}
584+
SL_ERROR_CODE err = (SL_ERROR_CODE)sl_get_region_of_interest(CameraID, Mat.Mat, resolution.X, resolution.Y);
585+
return sl::unreal::ToUnrealType(err);
586+
}
587+
588+
ESlErrorCode USlCameraProxy::StartRegionOfInterestAutoDetection(FSlRegionOfInterestParameters& roiParams)
589+
{
590+
SL_RegionOfInterestParameters params;
591+
params.auto_apply = roiParams.bAutoApply;
592+
params.depth_far_threshold_meters = roiParams.depthFarThresholdMeters;
593+
params.image_height_ratio_cutoff = roiParams.imageHeightRatioCutoff;
594+
595+
SL_ERROR_CODE err = (SL_ERROR_CODE)sl_start_region_of_interest_auto_detection(CameraID, &params);
596+
return sl::unreal::ToUnrealType(err);
597+
}
598+
599+
ESlRegionOfInterestAutoDetectionState USlCameraProxy::GetRegionOfInterestAutoDetectionStatus()
600+
{
601+
return (ESlRegionOfInterestAutoDetectionState)sl_get_region_of_interest_auto_detection_status(CameraID);
602+
}
603+
572604
ESlErrorCode USlCameraProxy::GetIMUData(FSlIMUData& IMUData, ESlTimeReference TimeReference)
573605
{
574606
SL_ERROR_CODE ErrorCode = SL_ERROR_CODE_FAILURE;
@@ -846,6 +878,11 @@ FSlVideoSettings USlCameraProxy::GetCameraSettings()
846878
return CameraSettings;
847879
}
848880

881+
bool USlCameraProxy::GetCameraSetting(ESlVideoSettings CameraSetting, int& value)
882+
{
883+
return (sl_get_camera_settings(CameraID, (SL_VIDEO_SETTINGS)CameraSetting, &value) == SL_ERROR_CODE_SUCCESS);
884+
}
885+
849886
bool USlCameraProxy::EnableSpatialMapping(const FSlSpatialMappingParameters& SpatialMappingParameters)
850887
{
851888
SL_ERROR_CODE ErrorCode;
@@ -1015,6 +1052,22 @@ bool USlCameraProxy::RetrieveMeasure(void* Mat, ESlMeasure MeasureType, ESlMemor
10151052
return (ErrorCode == SL_ERROR_CODE_SUCCESS);
10161053
}
10171054

1055+
bool USlCameraProxy::IsCameraSettingSupported(ESlVideoSettings CameraSetting)
1056+
{
1057+
return sl_is_camera_setting_supported(CameraID, (SL_VIDEO_SETTINGS)CameraSetting);
1058+
}
1059+
1060+
bool USlCameraProxy::SetCameraSetting(ESlVideoSettings NewCameraSettings, int value)
1061+
{
1062+
if (sl_is_camera_setting_supported(CameraID, (SL_VIDEO_SETTINGS)NewCameraSettings))
1063+
{
1064+
sl_set_camera_settings(CameraID, (SL_VIDEO_SETTINGS)NewCameraSettings, value);
1065+
return true;
1066+
}
1067+
return false;
1068+
}
1069+
1070+
10181071
void USlCameraProxy::SetCameraSettings(FSlVideoSettings& NewCameraSettings)
10191072
{
10201073
bool bDefault = NewCameraSettings.bDefault;

‎Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsBaseTypes.h

+103-1
Original file line numberDiff line numberDiff line change
@@ -325,6 +325,7 @@ enum class ESlRetrieveResult : uint8
325325
UENUM(BlueprintType, Category = "Stereolabs|Enum")
326326
enum class ESlErrorCode : uint8
327327
{
328+
EC_CorruptedFrame = 254 UMETA(DisplayName = "Corrupted frame"),
328329
EC_CameraRebooting = 255 UMETA(DisplayName = "Camera rebooting"),
329330
EC_Success = 0 UMETA(DisplayName = "Success"),
330331
EC_Failure UMETA(DisplayName = "Failure"),
@@ -364,6 +365,38 @@ enum class ESlErrorCode : uint8
364365
EC_None UMETA(DisplayName = "No error")
365366
};
366367

368+
/**
369+
\brief Lists available camera settings for the camera (contrast, hue, saturation, gain, ...).
370+
\warning All \ref VIDEO_SETTINGS are not supported for all camera models. You can find the supported \ref VIDEO_SETTINGS for each ZED camera in our <a href="https://www.stereolabs.com/docs/video/camera-controls#adjusting-camera-settings">documentation</a>.\n\n
371+
GAIN and EXPOSURE are linked in auto/default mode (see \ref sl::Camera.setCameraSettings()).
372+
*/
373+
UENUM(BlueprintType, Category = "Stereolabs|Enum")
374+
enum class ESlVideoSettings: uint8
375+
{
376+
VS_BRIGHTNESS UMETA(DisplayName = "Brightness"), /**< Brightness control \n Affected value should be between 0 and 8. \note Not available for ZED X/X Mini cameras.*/
377+
VS_CONTRAST UMETA(DisplayName = "Contrast"), /**< Contrast control \n Affected value should be between 0 and 8. \note Not available for ZED X/X Mini cameras.*/
378+
VS_HUE UMETA(DisplayName = "Hue"), /**< Hue control \n Affected value should be between 0 and 11. \note Not available for ZED X/X Mini cameras.*/
379+
VS_SATURATION UMETA(DisplayName = "Saturation"), /**< Saturation control \n Affected value should be between 0 and 8.*/
380+
VS_SHARPNESS UMETA(DisplayName = "Sharpness"), /**< Digital sharpening control \n Affected value should be between 0 and 8.*/
381+
VS_GAMMA UMETA(DisplayName = "Gamma"), /**< ISP gamma control \n Affected value should be between 1 and 9.*/
382+
VS_GAIN UMETA(DisplayName = "Gain"), /**< Gain control \n Affected value should be between 0 and 100 for manual control. \note If EXPOSURE is set to -1 (automatic mode), then GAIN will be automatic as well.*/
383+
VS_EXPOSURE UMETA(DisplayName = "Exposure"), /**< Exposure control \n Affected value should be between 0 and 100 for manual control.\n The exposition is mapped linearly in a percentage of the following max values.\n Special case for <code>EXPOSURE = 0</code> that corresponds to 0.17072ms.\n The conversion to milliseconds depends on the framerate: <ul><li>15fps & <code>EXPOSURE = 100</code> -> 19.97ms</li><li>30fps & <code>EXPOSURE = 100</code> -> 19.97ms</li><li>60fps & <code>EXPOSURE = 100</code> -> 10.84072ms</li><li>100fps & <code>EXPOSURE = 100</code> -> 10.106624ms</li></ul>*/
384+
VS_AEC_AGC UMETA(DisplayName = "AEC AGC"), /**< Defines if the GAIN and EXPOSURE are in automatic mode or not.\n Setting GAIN or EXPOSURE values will automatically set this value to 0.*/
385+
VS_AEC_AGC_ROI UMETA(DisplayName = "AEC AGC Roi"), /**< Defines the region of interest for automatic exposure/gain computation.\n To be used with overloaded \ref Camera.setCameraSettings(VIDEO_SETTINGS,Rect,sl::SIDE,bool) "setCameraSettings()" / \ref Camera.getCameraSettings(VIDEO_SETTINGS,Rect&,sl::SIDE) "getCameraSettings()" methods.*/
386+
VS_WHITEBALANCE_TEMPERATURE UMETA(DisplayName = "White balance"), /**< Color temperature control \n Affected value should be between 2800 and 6500 with a step of 100. \note Setting a value will automatically set WHITEBALANCE_AUTO to 0.*/
387+
VS_WHITEBALANCE_AUTO UMETA(DisplayName = "Auto White balance"), /**< Defines if the white balance is in automatic mode or not.*/
388+
VS_LED_STATUS UMETA(DisplayName = "LED status"), /**< Status of the front LED of the camera.\n Set to 0 to disable the light, 1 to enable the light.\n Default value is on. \note Requires camera firmware 1523 at least.*/
389+
VS_EXPOSURE_TIME UMETA(DisplayName = "Exposure time"), /**< Real exposure time control in microseconds. \note Only available for ZED X/X Mini cameras.\note Replace EXPOSURE setting.*/
390+
VS_ANALOG_GAIN UMETA(DisplayName = "Analog gain"), /**< Real analog gain (sensor) control in mDB.\n The range is defined by Jetson DTS and by default [1000-16000]. \note Only available for ZED X/X Mini cameras.\note Replace GAIN settings.*/
391+
VS_DIGITAL_GAIN UMETA(DisplayName = "Digital gain"), /**< Real digital gain (ISP) as a factor.\n The range is defined by Jetson DTS and by default [1-256]. \note Only available for ZED X/X Mini cameras.\note Replace GAIN settings.*/
392+
VS_AUTO_EXPOSURE_TIME_RANGE UMETA(DisplayName = "Auto exposure time range"), /**< Range of exposure auto control in microseconds.\n Used with \ref Camera.setCameraSettings(VIDEO_SETTINGS,int,int) "setCameraSettings()".\n Min/max range between max range defined in DTS.\n By default: [28000 - <fps_time> or 19000] us. \note Only available for ZED X/X Mini cameras.*/
393+
VS_AUTO_ANALOG_GAIN_RANGE UMETA(DisplayName = "Auto analog gain range"), /**< Range of sensor gain in automatic control.\n Used with \ref Camera.setCameraSettings(VIDEO_SETTINGS,int,int) "setCameraSettings()".\n Min/max range between max range defined in DTS.\n By default: [1000 - 16000] mdB. \note Only available for ZED X/X Mini cameras.*/
394+
VS_AUTO_DIGITAL_GAIN_RANGE UMETA(DisplayName = "Auto digital gain range"), /**< Range of digital ISP gain in automatic control.\n Used with \ref Camera.setCameraSettings(VIDEO_SETTINGS,int,int) "setCameraSettings()".\n Min/max range between max range defined in DTS.\n By default: [1 - 256]. \note Only available for ZED X/X Mini cameras.*/
395+
VS_EXPOSURE_COMPENSATION UMETA(DisplayName = "Exposure compensation"), /**< Exposure-target compensation made after auto exposure.\n Reduces the overall illumination target by factor of F-stops.\n Affected value should be between 0 and 100 (mapped between [-2.0,2.0]).\n Default value is 50, i.e. no compensation applied. \note Only available for ZED X/X Mini cameras.*/
396+
VS_DENOISING UMETA(DisplayName = "Denoising"), /**< Level of denoising applied on both left and right images.\n Affected value should be between 0 and 100.\n Default value is 50. \note Only available for ZED X/X Mini cameras.*/
397+
VS_LAST
398+
};
399+
367400
/*
368401
* SDK SVO compression modes
369402
* see sl::SVO_COMPRESSION_MODE
@@ -511,6 +544,17 @@ enum class ESlPositionalTrackingMode : uint8
511544
PTM_Quality UMETA(DisplayName = "Quality")
512545
};
513546

547+
/**
548+
\brief Lists the different states of region of interest auto detection.
549+
*/
550+
UENUM(BlueprintType, Category = "Stereolabs|Enum")
551+
enum class ESlRegionOfInterestAutoDetectionState : uint8
552+
{
553+
ROI_RUNNING UMETA(DisplayName = "Running"), /**< The region of interest auto detection is initializing.*/
554+
ROI_READY UMETA(DisplayName = "Ready"), /**< The region of interest mask is ready, if auto_apply was enabled, the region of interest mask is being used*/
555+
ROI_NOT_ENABLED UMETA(DisplayName = "Not Enabled"), /**< The region of interest auto detection is not enabled*/
556+
};
557+
514558
/*
515559
* Lists available object tracking state.
516560
*/
@@ -2238,6 +2282,40 @@ struct STEREOLABS_API FSlPose
22382282
bool bValid;
22392283
};
22402284

2285+
USTRUCT(BlueprintType, Category = "Stereolabs|Struct")
2286+
struct STEREOLABS_API FSlRegionOfInterestParameters
2287+
{
2288+
GENERATED_BODY()
2289+
2290+
FSlRegionOfInterestParameters()
2291+
:
2292+
depthFarThresholdMeters(2.5f),
2293+
imageHeightRatioCutoff(0.5f),
2294+
bAutoApply(false)
2295+
{}
2296+
2297+
/**
2298+
\brief Filtering how far object in the ROI should be considered, this is useful for a vehicle for instance
2299+
2300+
Default: 2.5 meters
2301+
*/
2302+
float depthFarThresholdMeters = 2.5;
2303+
2304+
/**
2305+
\brief By default consider only the lower half of the image, can be useful to filter out the sky
2306+
2307+
Default: 0.5, correspond to the lower half of the image
2308+
*/
2309+
float imageHeightRatioCutoff = 0.5;
2310+
2311+
/**
2312+
\brief Once computed the ROI computed will be automatically applied
2313+
2314+
Default: Enabled
2315+
*/
2316+
bool bAutoApply = true;
2317+
};
2318+
22412319
/*
22422320
* SDK IMU data
22432321
* see Sl::IMUData
@@ -2313,7 +2391,8 @@ struct STEREOLABS_API FSlInitParameters
23132391
bEnableImageEnhancement(true),
23142392
OpenTimeoutSec(5.0f),
23152393
VerboseFilePath(""),
2316-
GrabComputeCappingFPS(0.0f)
2394+
GrabComputeCappingFPS(0.0f),
2395+
bEnableImageValidityCheck(false)
23172396
{
23182397
}
23192398

@@ -2493,6 +2572,13 @@ struct STEREOLABS_API FSlInitParameters
24932572
GrabComputeCappingFPS,
24942573
*Path
24952574
);
2575+
2576+
GConfig->GetBool(
2577+
Section,
2578+
TEXT("bEnableImageValidityCheck"),
2579+
bEnableImageValidityCheck,
2580+
*Path
2581+
);
24962582
}
24972583

24982584
FORCEINLINE void Save(const FString& Path) const
@@ -2657,6 +2743,13 @@ struct STEREOLABS_API FSlInitParameters
26572743
GrabComputeCappingFPS,
26582744
*Path
26592745
);
2746+
2747+
GConfig->SetBool(
2748+
Section,
2749+
TEXT("bEnableImageValidityCheck"),
2750+
bEnableImageValidityCheck,
2751+
*Path
2752+
);
26602753
}
26612754

26622755
/** Input type used in the ZED SDK */
@@ -2785,6 +2878,15 @@ struct STEREOLABS_API FSlInitParameters
27852878
*/
27862879
UPROPERTY(EditAnywhere, BlueprintReadWrite)
27872880
float GrabComputeCappingFPS;
2881+
/**
2882+
Enable or disable the image validity verification.
2883+
This will perform additional verification on the image to identify corrupted data. This verification is done in the grab function and requires some computations.
2884+
If an issue is found, the grab function will output a warning as sl::ERROR_CODE::CORRUPTED_FRAME.
2885+
This version doesn't detect frame tearing currently.
2886+
\n default: disabled
2887+
*/
2888+
UPROPERTY(EditAnywhere, BlueprintReadWrite)
2889+
bool bEnableImageValidityCheck;
27882890
};
27892891

27902892
/*

‎Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCameraProxy.h

+24
Original file line numberDiff line numberDiff line change
@@ -188,6 +188,19 @@ class STEREOLABS_API USlCameraProxy : public UObject
188188
UFUNCTION(BlueprintPure, meta = (Keywords = "get zed camera settings"), Category = "Zed|Camera")
189189
FSlVideoSettings GetCameraSettings();
190190

191+
UFUNCTION(BlueprintPure, meta = (Keywords = "get zed camera setting"), Category = "Zed|Camera")
192+
bool GetCameraSetting(ESlVideoSettings CameraSetting, int& value);
193+
194+
UFUNCTION(BlueprintPure, meta = (Keywords = "is camera setting supported"), Category = "Zed|Camera")
195+
196+
bool IsCameraSettingSupported(ESlVideoSettings CameraSetting);
197+
198+
/*
199+
* Set a camera setting
200+
* @param NewCameraSettings The camera setting to set
201+
*/
202+
UFUNCTION(BlueprintPure, meta = (Keywords = "set zed camera setting"), Category = "Zed|Camera")
203+
bool SetCameraSetting(ESlVideoSettings NewCameraSettings, int value);
191204
/*
192205
* Set the camera settings
193206
* @param NewCameraSettings The camera settings to set
@@ -262,6 +275,17 @@ class STEREOLABS_API USlCameraProxy : public UObject
262275
UFUNCTION(BlueprintPure, meta = (Keywords = "get zed pose"), Category = "Zed|Tracking")
263276
ESlTrackingState GetPosition(FSlPose& Pose, ESlReferenceFrame ReferenceFrame);
264277

278+
UFUNCTION(BlueprintPure, meta = (Keywords = "Set Region Of Interest"), Category = "Zed|Tracking")
279+
ESlErrorCode SetRegionOfInterest(FSlMat& Mat);
280+
281+
UFUNCTION(BlueprintPure, meta = (Keywords = "Get Region Of Interest"), Category = "Zed|Tracking")
282+
ESlErrorCode GetRegionOfInterest(FSlMat& Mat, FIntPoint& resolution);
283+
284+
UFUNCTION(BlueprintPure, meta = (Keywords = "start region of interest auto detection"), Category = "Zed|Tracking")
285+
ESlErrorCode StartRegionOfInterestAutoDetection(FSlRegionOfInterestParameters& roiParams);
286+
287+
UFUNCTION(BlueprintPure, meta = (Keywords = "get region of interest auto detection status"), Category = "Zed|Tracking")
288+
ESlRegionOfInterestAutoDetectionState GetRegionOfInterestAutoDetectionStatus();
265289
/*
266290
* Get the current IMU data
267291
* @param IMUData The current IMU data

‎Plugins/Stereolabs/Source/Stereolabs/Public/Core/StereolabsCoreGlobals.h

+7-33
Original file line numberDiff line numberDiff line change
@@ -229,6 +229,10 @@ namespace sl
229229
{
230230
switch (SlType)
231231
{
232+
case sl::ERROR_CODE::CORRUPTED_FRAME: /**< The image could be corrupted, Enabled with the parameter InitParameters::enable_image_validity_check.*/
233+
return ESlErrorCode::EC_CorruptedFrame;
234+
case sl::ERROR_CODE::CAMERA_REBOOTING: /**< The camera is currently rebooting.*/
235+
return ESlErrorCode::EC_CameraRebooting;
232236
case sl::ERROR_CODE::SUCCESS: /**< Standard code for successful behavior.*/
233237
return ESlErrorCode::EC_Success;
234238
case sl::ERROR_CODE::FAILURE: /**< Standard code for unsuccessful behavior.*/
@@ -312,7 +316,9 @@ namespace sl
312316
{
313317
switch (SlType)
314318
{
315-
case -1:
319+
case SL_ERROR_CODE_CORRUPTED_FRAME:
320+
return ESlErrorCode::EC_CorruptedFrame;
321+
case SL_ERROR_CODE_CAMERA_REBOOTING:
316322
return ESlErrorCode::EC_CameraRebooting;
317323
case SL_ERROR_CODE_SUCCESS: /**< Standard code for successful behavior.*/
318324
return ESlErrorCode::EC_Success;
@@ -2109,38 +2115,6 @@ namespace sl
21092115
return TrackingParameters;
21102116
}
21112117

2112-
/*
2113-
* Covnert from FSlInitParameters to sl::InitParameters
2114-
*/
2115-
FORCEINLINE sl::InitParameters ToSlType(const FSlInitParameters& UnrealData)
2116-
{
2117-
sl::InitParameters InitParameters;
2118-
2119-
InitParameters.camera_disable_self_calib = UnrealData.bDisableSelfCalibration;
2120-
InitParameters.camera_fps = UnrealData.FPS;
2121-
InitParameters.camera_image_flip = (int)UnrealData.VerticalFlipImage;
2122-
InitParameters.camera_resolution = sl::unreal::ToSlType(UnrealData.Resolution);
2123-
InitParameters.coordinate_system = sl::unreal::ToSlType(UnrealData.CoordinateSystem);
2124-
InitParameters.coordinate_units = sl::unreal::ToSlType(UnrealData.Unit);
2125-
InitParameters.depth_minimum_distance = UnrealData.DepthMinimumDistance;
2126-
InitParameters.depth_mode = sl::unreal::ToSlType(UnrealData.DepthMode);
2127-
InitParameters.enable_right_side_measure = UnrealData.bEnableRightSideMeasure;
2128-
InitParameters.sdk_gpu_id = FMath::FloorToInt(UnrealData.GPUID);
2129-
InitParameters.sdk_verbose = UnrealData.Verbose;
2130-
InitParameters.sdk_verbose_log_file = TCHAR_TO_UTF8(*UnrealData.VerboseFilePath);
2131-
InitParameters.grab_compute_capping_fps = UnrealData.GrabComputeCappingFPS;
2132-
if (UnrealData.InputType == ESlInputType::IT_SVO)
2133-
{
2134-
InitParameters.input.setFromSVOFile(TCHAR_TO_UTF8(*UnrealData.SvoPath));
2135-
InitParameters.svo_real_time_mode = UnrealData.bRealTime;
2136-
}
2137-
else if (UnrealData.InputType == ESlInputType::IT_STREAM) {
2138-
InitParameters.input.setFromStream(TCHAR_TO_UTF8(*UnrealData.StreamIP), UnrealData.StreamPort);
2139-
}
2140-
InitParameters.depth_stabilization = UnrealData.DepthStabilization;
2141-
2142-
return InitParameters;
2143-
}
21442118

21452119
FORCEINLINE SL_ObjectDetectionParameters ToSlType(const FSlObjectDetectionParameters& UnrealData)
21462120
{

‎Plugins/Stereolabs/Source/ThirdParty/sl_zed_c/bin/sl_zed_c.dll

4 KB
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