//======= Copyright (c) Stereolabs Corporation, All rights reserved. ===============

using UnityEngine;
using System.Collections.Generic;
using System;
using System.Runtime.InteropServices;

namespace sl
{
    /// <summary>
    /// Main interface between Unity and the ZED SDK. Primarily consists of extern calls to the ZED SDK wrapper .dll and
    /// low-level logic to process data sent to/received from it.
    /// </summary>
    /// <remarks>The ZEDManager component creates a ZEDCamera instance in Awake() and handles all initialization.
    /// Most ZED functionality can be handled simply in Unity via ZEDManager or other high-level manager components
    /// (ZEDSpatialMappingManager, ZEDPlaneDetectionManager, etc.)
    /// Textures created by ZEDCamera by CreateTextureImageType() and CreateTextureMeasureType()
    /// are updated automatically by the wrapper whenever a new frame is available. They represent a specific kind of
    /// output, like left RGB image, or depth relative to the right sensor. As such, you never need more than one texture
    /// of each kind, since it can simply be reused by all scripts that need it. Therefore, textures created in ZEDCamera
    /// are indexed by their type (Image or Measure) and then by the options of each type. If a script needs a certain kind
    /// of output, ZEDCamera will make a new one if it doesn't exist, but refer to the existing one otherwise.</remarks>
    ///
    public class ZEDCamera
    {
        /// <summary>
        /// Type of textures requested.
        /// </summary>
        public enum TYPE_VIEW
        {
            /// <summary>
            /// Image-type texture. Human-viewable but loses measurement accuracy.
            /// </summary>
            RETRIEVE_IMAGE,
            /// <summary>
            /// Measure-type texture. Preserves measurement accuracy but isn't human-viewable.
            /// </summary>
            RETRIEVE_MEASURE
        }

        /// <summary>
        /// Information for a requested texture. Stored in the texturesRequested list so DestroyTexture()
        /// can be called with the correct arguments in DestroyAllTexture().
        /// </summary>
        private struct TextureRequested
        {
            /// <summary>
            /// Texture type - 'image' or 'measure.' Assigned using ZEDCamera.TYPE_VIEW.
            /// </summary>
            public int type;
            /// <summary>
            /// View mode (left/right eye, depth, etc.) Assigned using ZEDCommon.VIEW.
            /// </summary>
            public int option;
        };

        /********* Camera members ********/

        /// <summary>
        /// DLL name, used for extern calls to the wrapper.
        /// </summary>
        public const string nameDll = sl.ZEDCommon.NameDLL;

        /// <summary>
        /// List of all created textures, representing SDK output. Indexed by ints corresponding to its ZEDCamera.TYPE_VIEW
        /// and its ZEDCommon.VIEW as you can't have more than one texture for each combination (nor would it be useful to).
        /// </summary>
        private Dictionary<int, Dictionary<int, Texture2D>> textures;

        /// <summary>
        /// List of all requested textures. Used for destroying all textures when the camera closes.
        /// </summary>
        private List<TextureRequested> texturesRequested;

        /// <summary>
        /// Width of the textures in pixels. Corresponds to the ZED's current resolution setting.
        /// </summary>
        private int imageWidth;
        /// <summary>
        /// Width of the images returned by the ZED in pixels. Corresponds to the ZED's current resolution setting.
        /// </summary>
        public int ImageWidth
        {
            get
            {
                return imageWidth;
            }
        }
        /// <summary>
        /// Height of the textures in pixels. Corresponds to the ZED's current resolution setting.
        /// </summary>
        private int imageHeight;
        /// <summary>
        /// Height of the images returned by the ZED in pixels. Corresponds to the ZED's current resolution setting.
        /// </summary>
        public int ImageHeight
        {
            get
            {
                return imageHeight;
            }
        }
        /// <summary>
        /// Projection matrix corresponding to the ZED's camera traits. Useful for lining up virtual cameras with the ZED image.
        /// </summary>
        private Matrix4x4 projection = new Matrix4x4();
        /// <summary>
        /// Projection matrix corresponding to the ZED's camera traits. Useful for lining up virtual cameras with the ZED image.
        /// </summary>
        public Matrix4x4 Projection
        {
            get
            {
                return projection;
            }
        }


        /// <summary>
        /// True if the ZED SDK is installed.
        /// </summary>
        private static bool pluginIsReady = true;

        /// <summary>
        /// Mutex for the image acquisition thread.
        /// </summary>
        public object grabLock = new object();

        /// <summary>
        /// Current ZED resolution setting. Set at initialization.
        /// </summary>
        private RESOLUTION currentResolution;

        /// <summary>
        /// Callback for c++ debugging. Should not be used in C#.
        /// </summary>
        private delegate void DebugCallback(string message);

        /// <summary>
        /// Desired FPS from the ZED camera. This is the maximum FPS for the ZED's current
        /// resolution unless a lower setting was specified in Init().
        /// Maximum values are bound by the ZED's output, not system performance.
        /// </summary>
        private uint fpsMax = 60; //Defaults to HD720 resolution's output.
        /// <summary>
        /// Desired FPS from the ZED camera. This is the maximum FPS for the ZED's current
        /// resolution unless a lower setting was specified in Init().
        /// Maximum values are bound by the ZED's output, not system performance.
        /// </summary>
        public float GetRequestedCameraFPS()
        {
            return fpsMax;
        }
        /// <summary>
        /// Holds camera settings like brightness/contrast, gain/exposure, etc.
        /// </summary>
        private ZEDCameraSettings cameraSettingsManager = new ZEDCameraSettings();

        /// <summary>
        /// Camera's stereo baseline (distance between the cameras). Extracted from calibration files.
        /// </summary>
        private float baseline = 0.0f;
        /// <summary>
        /// Camera's stereo baseline (distance between the cameras). Extracted from calibration files.
        /// </summary>
        public float Baseline
        {
            get { return baseline; }
        }
        /// <summary>
        /// ZED's current horizontal field of view in degrees.
        /// </summary>
        private float fov_H = 0.0f;
        /// <summary>
        /// ZED's current vertical field of view in degrees.
        /// </summary>
        private float fov_V = 0.0f;
        /// <summary>
        /// ZED's current horizontal field of view in degrees.
        /// </summary>
        public float HorizontalFieldOfView
        {
            get { return fov_H; }
        }
        /// <summary>
        /// ZED's current vertical field of view in degrees.
        /// </summary>
        public float VerticalFieldOfView
        {
            get { return fov_V; }
        }
        /// <summary>
        /// Structure containing information about all the sensors available in the current device
        /// </summary>
        private SensorsConfiguration sensorsConfiguration;
        /// <summary>
        /// Stereo parameters for current ZED camera prior to rectification (distorted).
        /// </summary>
        private CalibrationParameters calibrationParametersRaw;
        /// <summary>
        /// Stereo parameters for current ZED camera after rectification (undistorted).
        /// </summary>
        private CalibrationParameters calibrationParametersRectified;
        /// <summary>
        /// Camera model - ZED or ZED Mini.
        /// </summary>
        private sl.MODEL cameraModel;

        /// <summary>
        /// Whether the camera has been successfully initialized.
        /// </summary>
        private bool cameraReady = false;

        /// <summary>
        /// Structure containing information about all the sensors available in the current device
        /// </summary>
        public SensorsConfiguration SensorsConfiguration
        {
            get { return sensorsConfiguration; }
        }
        /// <summary>
        /// Stereo parameters for current ZED camera prior to rectification (distorted).
        /// </summary>
        public CalibrationParameters CalibrationParametersRaw
        {
            get { return calibrationParametersRaw; }
        }
        /// <summary>
        /// Stereo parameters for current ZED camera after rectification (undistorted).
        /// </summary>
        public CalibrationParameters CalibrationParametersRectified
        {
            get { return calibrationParametersRectified; }
        }
        /// <summary>
        /// Camera model - ZED or ZED Mini.
        /// </summary>
        public sl.MODEL CameraModel
        {
            get { return cameraModel; }
        }
        /// <summary>
        /// Whether the camera has been successfully initialized.
        /// </summary>
        public bool IsCameraReady
        {
            get { return cameraReady; }
        }

        /// <summary>
        /// Whether the current device (ZED or ZED Mini) should be used for pass-through AR.
        /// True if using ZED Mini, false if using ZED. </summary><remarks>Note: the plugin will allow using the original ZED
        /// for pass-through but it will feel quite uncomfortable due to the baseline.</remarks>
        public bool IsHmdCompatible
        {
            get { return cameraModel == sl.MODEL.ZED_M; }
        }

        /// <summary>
        /// Camera ID (for multiple cameras)
        /// </summary>
        public int CameraID = 0;

        /// <summary>
        /// Layer that the ZED can't see, but overlay cameras created by ZEDMeshRenderer and ZEDPlaneRenderer can.
        /// </summary>
        //int tagInvisibleToZED = 16;
        /// <summary>
        /// Layer that the ZED can't see, but overlay cameras created by ZEDMeshRenderer and ZEDPlaneRenderer can.
        /// </summary>
        public int TagInvisibleToZED
        {
            get { return ZEDLayers.tagInvisibleToZED; }
        }
        public const int brightnessDefault = 4;
        public const int contrastDefault = 4;
        public const int hueDefault = 0;
        public const int saturationDefault = 4;
        public const int sharpnessDefault = 3;
        public const int gammaDefault = 5;
        public const int whitebalanceDefault = 2600;


        #region DLL Calls
        /// <summary>
        /// Current Plugin Version.
        /// </summary>
        public static readonly System.Version PluginVersion = new System.Version(3, 7, 1);

        /******** DLL members ***********/
        [DllImport(nameDll, EntryPoint = "GetRenderEventFunc")]
        private static extern IntPtr GetRenderEventFunc();

        [DllImport(nameDll, EntryPoint = "sl_register_callback_debuger")]
        private static extern void dllz_register_callback_debuger(DebugCallback callback);


        /*
          * Utils function.
          */

        [DllImport(nameDll, EntryPoint = "sl_unload_all_instances")]
        private static extern void dllz_unload_all_instances();

        [DllImport(nameDll, EntryPoint = "sl_unload_instance")]
        private static extern void dllz_unload_instance(int id);

        [DllImport(nameDll, EntryPoint = "sl_find_usb_device")]
        private static extern bool dllz_find_usb_device(USB_DEVICE dev);

        [DllImport(nameDll, EntryPoint = "sl_generate_unique_id")]
        private static extern int dllz_generate_unique_id([In, Out] byte[] id);

        /*
          * Create functions
          */
        [DllImport(nameDll, EntryPoint = "sl_create_camera")]
        private static extern bool dllz_create_camera(int cameraID);


        /*
        * Opening function (Opens camera and creates textures).
        */
        [DllImport(nameDll, EntryPoint = "sl_open_camera")]
        private static extern int dllz_open(int cameraID, ref dll_initParameters parameters, System.Text.StringBuilder svoPath, System.Text.StringBuilder ipStream, int portStream, System.Text.StringBuilder output, System.Text.StringBuilder opt_settings_path, System.Text.StringBuilder opencv_calib_path);


        /*
         * Close function.
         */
        [DllImport(nameDll, EntryPoint = "sl_close_camera")]
        private static extern void dllz_close(int cameraID);


        /*
         * Grab function.
         */
        [DllImport(nameDll, EntryPoint = "sl_grab")]
        private static extern int dllz_grab(int cameraID, ref sl.RuntimeParameters runtimeParameters);


        /*
         * GetDeviceList function
         */
        [DllImport(nameDll, EntryPoint = "sl_get_device_list")]
        private static extern void dllz_get_device_list(sl.DeviceProperties[] deviceList, out int nbDevices);

        /*
        * Reboot function.
        */
        [DllImport(nameDll, EntryPoint = "sl_reboot")]
        private static extern int dllz_reboot(int serialNumber, bool fullReboot);

        /*
        * Recording functions.
        */
        [DllImport(nameDll, EntryPoint = "sl_enable_recording")]
        private static extern int dllz_enable_recording(int cameraID, System.Text.StringBuilder video_filename, int compresssionMode,int bitrate,int target_fps,bool transcode);

        [DllImport(nameDll, EntryPoint = "sl_disable_recording")]
        private static extern bool dllz_disable_recording(int cameraID);

        /*
        * Texturing functions.
        */
        [DllImport(nameDll, EntryPoint = "sl_retrieve_textures")]
        private static extern void dllz_retrieve_textures(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_updated_textures_timestamp")]
        private static extern ulong dllz_get_updated_textures_timestamp(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_swap_textures")]
        private static extern void dllz_swap_textures(int cameraID);



        [DllImport(nameDll, EntryPoint = "sl_register_texture_image_type")]
        private static extern int dllz_register_texture_image_type(int cameraID, int option, IntPtr id, int width, int height);

        [DllImport(nameDll, EntryPoint = "sl_register_texture_measure_type")]
        private static extern int dllz_register_texture_measure_type(int cameraID, int option, IntPtr id, int width, int height);

        [DllImport(nameDll, EntryPoint = "sl_unregister_texture_measure_type")]
        private static extern int dllz_unregister_texture_measure_type(int cameraID, int option);

        [DllImport(nameDll, EntryPoint = "sl_unregister_texture_image_type")]
        private static extern int dllz_unregister_texture_image_type(int cameraID, int option);

        [DllImport(nameDll, EntryPoint = "sl_get_copy_mat_texture_image_type")]
        private static extern IntPtr dllz_get_copy_mat_texture_image_type(int cameraID, int option);

        [DllImport(nameDll, EntryPoint = "sl_get_copy_mat_texture_measure_type")]
        private static extern IntPtr dllz_get_copy_mat_texture_measure_type(int cameraID, int option);


        /*
         * Camera control functions.
         */

        [DllImport(nameDll, EntryPoint = "sl_set_video_settings")]
        private static extern void dllz_set_video_settings(int id, int mode, int value);

        [DllImport(nameDll, EntryPoint = "sl_get_video_settings")]
        private static extern int dllz_get_video_settings(int id, int mode);

        [DllImport(nameDll, EntryPoint = "sl_set_roi_for_aec_agc")]
        private static extern int dllz_set_roi_for_aec_agc(int id, int side, iRect roi,bool reset);

        [DllImport(nameDll, EntryPoint = "sl_get_roi_for_aec_agc")]
        private static extern int dllz_get_roi_for_aec_agc(int id, int side, ref iRect roi);


        [DllImport(nameDll, EntryPoint = "sl_get_input_type")]
        private static extern int dllz_get_input_type(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_camera_fps")]
        private static extern float dllz_get_camera_fps(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_width")]
        private static extern int dllz_get_width(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_height")]
        private static extern int dllz_get_height(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_update_self_calibration")]
        private static extern void dllz_update_self_calibration(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_calibration_parameters")]
        private static extern IntPtr dllz_get_calibration_parameters(int cameraID, bool raw);

        [DllImport(nameDll, EntryPoint = "sl_get_sensors_configuration")]
        private static extern IntPtr dllz_get_sensors_configuration(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_camera_model")]
        private static extern int dllz_get_camera_model(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_camera_firmware")]
        private static extern int dllz_get_camera_firmware(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_sensors_firmware")]
        private static extern int dllz_get_sensors_firmware(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_zed_serial")]
        private static extern int dllz_get_zed_serial(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_camera_imu_transform")]
        private static extern void dllz_get_camera_imu_transform(int cameraID, out Vector3 translation, out Quaternion rotation);

        [DllImport(nameDll, EntryPoint = "sl_get_camera_timestamp")]
        private static extern ulong dllz_get_image_timestamp(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_current_Timestamp")]
        private static extern ulong dllz_get_current_timestamp(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_frame_dropped_count")]
        private static extern uint dllz_get_frame_dropped_count(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_frame_dropped_percent")]
        private static extern float dllz_get_frame_dropped_percent(int cameraID);

        /*
         * SVO control functions.
         */

        [DllImport(nameDll, EntryPoint = "sl_set_svo_position")]
        private static extern void dllz_set_svo_position(int cameraID, int frame);

        [DllImport(nameDll, EntryPoint = "sl_get_svo_number_of_frames")]
        private static extern int dllz_get_svo_number_of_frames(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_svo_position")]
        private static extern int dllz_get_svo_position(int cameraID);


        /*
         * Depth Sensing utils functions.
         */
         /* Removed as of ZED SDK v3.0.
        [DllImport(nameDll, EntryPoint = "set_confidence_threshold")]
        private static extern void dllz_set_confidence_threshold(int cameraID, int threshold);
        [DllImport(nameDll, EntryPoint = "set_depth_max_range_value")]
        private static extern void dllz_set_depth_max_range_value(int cameraID, float distanceMax);
        */

        [DllImport(nameDll, EntryPoint = "sl_get_confidence_threshold")]
        private static extern int dllz_get_confidence_threshold(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_depth_max_range_value")]
        private static extern float dllz_get_depth_max_range_value(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_depth_value")]
        private static extern float dllz_get_depth_value(int cameraID, uint x, uint y);

        [DllImport(nameDll, EntryPoint = "sl_get_distance_value")]
        private static extern float dllz_get_distance_value(int cameraID, uint x, uint y);

        [DllImport(nameDll, EntryPoint = "sl_get_normal_value")]
        private static extern bool dllz_get_normal_value(int cameraID, uint x, uint y, out Vector4 value);

        [DllImport(nameDll, EntryPoint = "sl_get_xyz_value")]
        private static extern bool dllz_get_xyz_value(int cameraID, uint x, uint y, out Vector4 value);

        [DllImport(nameDll, EntryPoint = "sl_get_depth_min_range_value")]
        private static extern float dllz_get_depth_min_range_value(int cameraID);


        /*
         * Motion Tracking functions.
         */
        [DllImport(nameDll, EntryPoint = "sl_enable_positional_tracking_unity")]
        private static extern int dllz_enable_tracking(int cameraID, ref Quaternion quat, ref Vector3 vec, bool enableSpatialMemory = false, bool enablePoseSmoothing = false, bool enableFloorAlignment = false,
            bool trackingIsStatic = false, bool enableIMUFusion = true, System.Text.StringBuilder areaFilePath = null);

        [DllImport(nameDll, EntryPoint = "sl_disable_positional_tracking")]
        private static extern void dllz_disable_tracking(int cameraID, System.Text.StringBuilder path);

        [DllImport(nameDll, EntryPoint = "sl_save_area_map")]
        private static extern int dllz_save_current_area(int cameraID, System.Text.StringBuilder path);

        [DllImport(nameDll, EntryPoint = "sl_get_position_data")]
        private static extern int dllz_get_position_data(int cameraID, ref Pose pose, int reference_frame);

        [DllImport(nameDll, EntryPoint = "sl_get_position")]
        private static extern int dllz_get_position(int cameraID, ref Quaternion quat, ref Vector3 vec, int reference_frame);

        [DllImport(nameDll, EntryPoint = "sl_get_position_at_target_frame")]
        private static extern int dllz_get_position_at_target_frame(int cameraID, ref Quaternion quaternion, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation, int reference_frame);

        [DllImport(nameDll, EntryPoint = "sl_transform_pose")]
        private static extern void dllz_transform_pose(ref Quaternion quaternion, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation);

        [DllImport(nameDll, EntryPoint = "sl_reset_positional_tracking")]
        private static extern int dllz_reset_tracking(int cameraID, Quaternion rotation, Vector3 translation);

        [DllImport(nameDll, EntryPoint = "sl_reset_tracking_with_offset")]
        private static extern int dllz_reset_tracking_with_offset(int cameraID, Quaternion rotation, Vector3 translation, Quaternion offsetQuaternion, Vector3 offsetTranslation);

        [DllImport(nameDll, EntryPoint = "sl_estimate_initial_position")]
        private static extern int dllz_estimate_initial_position(int cameraID, ref Quaternion quaternion, ref Vector3 translation, int countSuccess, int countTimeout);

        [DllImport(nameDll, EntryPoint = "sl_set_imu_prior_orientation")]
        private static extern int dllz_set_imu_prior_orientation(int cameraID, Quaternion rotation);

        [DllImport(nameDll, EntryPoint = "sl_get_internal_imu_orientation")]
        private static extern int dllz_get_internal_imu_orientation(int cameraID, ref Quaternion rotation, int reference_time);

        [DllImport(nameDll, EntryPoint = "sl_get_internal_sensors_data")]
        private static extern int dllz_get_internal_sensors_data(int cameraID, ref SensorsData imuData, int reference_time);

        [DllImport(nameDll, EntryPoint = "sl_get_area_export_state")]
        private static extern int dllz_get_area_export_state(int cameraID);

        /*
        * Spatial Mapping functions.
        */
        [DllImport(nameDll, EntryPoint = "sl_enable_spatial_mapping_unity")]
        private static extern int dllz_enable_spatial_mapping(int cameraID, int type, float resolution_meter, float max_range_meter, int saveTexture,int max_memory_usage);

        [DllImport(nameDll, EntryPoint = "sl_disable_spatial_mapping")]
        private static extern void dllz_disable_spatial_mapping(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_pause_spatial_mapping")]
        private static extern void dllz_pause_spatial_mapping(int cameraID, bool status);

        [DllImport(nameDll, EntryPoint = "sl_request_mesh_async")]
        private static extern void dllz_request_mesh_async(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_get_mesh_request_status_async")]
        private static extern int dllz_get_mesh_request_status_async(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_update_mesh")]
        private static extern int dllz_update_mesh(int cameraID, int[] nbVerticesInSubemeshes, int[] nbTrianglesInSubemeshes, ref int  nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmesh);

        [DllImport(nameDll, EntryPoint = "sl_retrieve_mesh")]
        private static extern int dllz_retrieve_mesh(int cameraID, Vector3[] vertices, int[] triangles, int nbSubmesh, Vector2[] uvs, IntPtr textures);

        [DllImport(nameDll, EntryPoint = "sl_update_fused_point_cloud")]
        private static extern int dllz_update_fused_point_cloud(int cameraID,  ref int pbPoints);

        [DllImport(nameDll, EntryPoint = "sl_retrieve_fused_point_cloud")]
        private static extern int dllz_retrieve_fused_point_cloud(int cameraID, Vector4[] points);

        [DllImport(nameDll, EntryPoint = "sl_save_mesh")]
        private static extern bool dllz_save_mesh(int cameraID, string filename, MESH_FILE_FORMAT format);

        [DllImport(nameDll, EntryPoint = "sl_save_point_cloud")]
        private static extern bool dllz_save_point_cloud(int cameraID, string filename, MESH_FILE_FORMAT format);

        [DllImport(nameDll, EntryPoint = "sl_load_mesh")]
        private static extern bool dllz_load_mesh(int cameraID, string filename, int[] nbVerticesInSubemeshes, int[] nbTrianglesInSubemeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbMaxSubmesh, int[] textureSize = null);

        [DllImport(nameDll, EntryPoint = "sl_apply_texture")]
        private static extern bool dllz_apply_texture(int cameraID, int[] nbVerticesInSubemeshes, int[] nbTrianglesInSubemeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int[] textureSize, int nbSubmesh);

        [DllImport(nameDll, EntryPoint = "sl_filter_mesh")]
        private static extern bool dllz_filter_mesh(int cameraID, FILTER meshFilter, int[] nbVerticesInSubemeshes, int[] nbTrianglesInSubemeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmesh);

        [DllImport(nameDll, EntryPoint = "sl_get_spatial_mapping_state")]
        private static extern int dllz_get_spatial_mapping_state(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_spatial_mapping_merge_chunks")]
        private static extern void dllz_spatial_mapping_merge_chunks(int cameraID, int numberFaces, int[] nbVerticesInSubemeshes, int[] nbTrianglesInSubemeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmesh);

        [DllImport(nameDll, EntryPoint = "sl_spatial_mapping_get_gravity_estimation")]
        private static extern void dllz_spatial_mapping_get_gravity_estimation(int cameraID, ref Vector3 v);

        /*
         * Plane Detection functions (starting v2.4)
         */
        [DllImport(nameDll, EntryPoint = "sl_find_floor_plane")]
        private static extern IntPtr dllz_find_floor_plane(int cameraID, out Quaternion rotation, out Vector3 translation, Quaternion priorQuaternion, Vector3 priorTranslation);

        [DllImport(nameDll, EntryPoint = "sl_find_plane_at_hit")]
        private static extern IntPtr dllz_find_plane_at_hit(int cameraID, Vector2 HitPixel, bool refine);

        [DllImport(nameDll, EntryPoint = "sl_convert_floorplane_to_mesh")]
        private static extern int dllz_convert_floorplane_to_mesh(int cameraID, Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles);

        [DllImport(nameDll, EntryPoint = "sl_convert_hitplane_to_mesh")]
        private static extern int dllz_convert_hitplane_to_mesh(int cameraID, Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles);


        /*
         * Streaming Module functions (starting v2.8)
         */
        [DllImport(nameDll, EntryPoint = "sl_enable_streaming")]
        private static extern int dllz_enable_streaming(int cameraID, sl.STREAMING_CODEC codec, uint bitrate, ushort port, int gopSize, int adaptativeBitrate,int chunk_size,int target_fps);

        [DllImport(nameDll, EntryPoint = "sl_is_streaming_enabled")]
        private static extern int dllz_is_streaming_enabled(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_disable_streaming")]
        private static extern void dllz_disable_streaming(int cameraID);


        /*
        * Objects Detection functions (starting v3.0)
        */

        [DllImport(nameDll, EntryPoint = "sl_check_AI_model_status")]
        private static extern IntPtr dllz_check_AI_model_status(AI_MODELS model, int gpu_id);

        [DllImport(nameDll, EntryPoint = "sl_optimize_AI_model")]
        private static extern int dllz_optimize_AI_model(AI_MODELS model, int gpu_id);


        [DllImport(nameDll, EntryPoint = "sl_enable_objects_detection")]
        private static extern int dllz_enable_objects_detection(int cameraID, ref dll_ObjectDetectionParameters od_params);

        [DllImport(nameDll, EntryPoint = "sl_disable_objects_detection")]
        private static extern void dllz_disable_objects_detection(int cameraID);

        [DllImport(nameDll, EntryPoint = "sl_pause_objects_detection")]
        private static extern void dllz_pause_objects_detection(int cameraID, bool status);

        [DllImport(nameDll, EntryPoint = "sl_ingest_custom_box_objects")]
        private static extern int dllz_ingest_custom_box_objects(int cameraID, int nb_objects, CustomBoxObjectData[] objects_in);

        [DllImport(nameDll, EntryPoint = "sl_retrieve_objects")]
        private static extern int dllz_retrieve_objects_data(int cameraID, ref dll_ObjectDetectionRuntimeParameters od_params, ref ObjectsFrameSDK objFrame);

        [DllImport(nameDll, EntryPoint = "sl_update_objects_batch")]
        private static extern int dllz_update_objects_batch(int cameraID, out int nbBatches);

        [DllImport(nameDll, EntryPoint = "sl_get_objects_batch")]
        private static extern int dllz_get_objects_batch_data(int cameraID, int batch_index, ref int numData, ref int id, ref OBJECT_CLASS label, ref OBJECT_SUBCLASS sublabel, ref TRACKING_STATE trackingState,
            [In, Out] Vector3[] position, [In, Out] float[,] positionCovariances, [In, Out] Vector3[] velocities, [In, Out] ulong[] timestamps, [In, Out] Vector2[,] boundingBoxes2D, [In, Out] Vector3[,] boundingBoxes,
            [In, Out] float[] confidences, [In, Out] OBJECT_ACTION_STATE[] actionStates, [In, Out] Vector2[,] keypoints2D, [In, Out] Vector3[,] keypoints, [In, Out] Vector2[,] headBoundingBoxes2D, [In, Out] Vector3[,] headBoundingBoxes, [In, Out] Vector3[] headPositions,
            [In, Out] float[,] keypointsConfidences);


        /*
        * Save utils function
        */
        [DllImport(nameDll, EntryPoint = "sl_save_current_image")]
        private static extern int dllz_save_current_image(int cameraID, VIEW view,string filename);

        [DllImport(nameDll, EntryPoint = "sl_save_current_depth")]
        private static extern int dllz_save_current_depth(int cameraID, int side, string filename);

        [DllImport(nameDll, EntryPoint = "sl_save_current_point_cloud")]
        private static extern int dllz_save_current_point_cloud(int cameraID, int side,  string filename);

        /*
         * Specific plugin functions
         */
        [DllImport(nameDll, EntryPoint = "sl_check_plugin")]
        private static extern int dllz_check_plugin(int major, int minor);

        [DllImport(nameDll, EntryPoint = "sl_get_sdk_version")]
        private static extern IntPtr dllz_get_sdk_version();

        [DllImport(nameDll, EntryPoint = "sl_compute_offset")]
        private static extern void dllz_compute_offset(float[] A, float[] B, int nbVectors, float[] C);

        [DllImport(nameDll, EntryPoint = "sl_compute_optical_center_offsets")]
        private static extern System.IntPtr dllz_compute_optical_center_offsets(ref Vector4 calibLeft, ref Vector4 calibRight, int width, int height, float planeDistance);


        /*
         * Retreieves used by mat
         */
        [DllImport(nameDll, EntryPoint = "sl_retrieve_measure")]
        private static extern int dllz_retrieve_measure(int cameraID, System.IntPtr ptr, int type, int mem, int width, int height);

        [DllImport(nameDll, EntryPoint = "sl_retrieve_image")]
        private static extern int dllz_retrieve_image(int cameraID, System.IntPtr ptr, int type, int mem, int width, int height);

        #endregion

        public static void UnloadPlugin()
        {
            dllz_unload_all_instances();
        }

        public static void UnloadInstance(int id)
        {
            dllz_unload_instance(id);
        }


        public static void ComputeOffset(float[] A, float[] B, int nbVectors, ref Quaternion rotation, ref Vector3 translation)
        {
            float[] C = new float[16];
            if (A.Length != 4 * nbVectors || B.Length != 4 * nbVectors || C.Length != 16) return;
            dllz_compute_offset(A, B, nbVectors, C);

            Matrix4x4 m = Matrix4x4.identity;
            Float2Matrix(ref m, C);

            rotation = Matrix4ToQuaternion(m);
            Vector4 t = m.GetColumn(3);
            translation.x = t.x;
            translation.y = t.y;
            translation.z = t.z;

        }

        /// <summary>
        /// Return a string from a pointer to a char. Used in GetSDKVersion().
        /// </summary>
        /// <param name="ptr">Pointer to a char.</param>
        /// <returns>The char as a string.</returns>
        private static string PtrToStringUtf8(IntPtr ptr)
        {
            if (ptr == IntPtr.Zero)
            {
                return "";
            }
            int len = 0;
            while (Marshal.ReadByte(ptr, len) != 0)
                len++;
            if (len == 0)
            {
                return "";
            }
            byte[] array = new byte[len];
            Marshal.Copy(ptr, array, 0, len);
            return System.Text.Encoding.ASCII.GetString(array);
        }

        /// <summary>
        /// Displays a console message. Used to display C++ SDK messages in Unity's console.
        /// </summary>
        /// <param name="message"></param>
        private static void DebugMethod(string message)
        {
            Debug.Log("[ZED plugin]: " + message);
        }

        /// <summary>
        /// Convert a pointer to a char into an array of bytes. Used to send file names to SDK for SVO recording.
        /// </summary>
        /// <param name="ptr">Pointer to a char.</param>
        /// <returns>The array.</returns>
        private static byte[] StringUtf8ToByte(string str)
        {
            byte[] array = System.Text.Encoding.ASCII.GetBytes(str);
            return array;
        }

        /// <summary>
        /// Gets the max FPS for each resolution setting. Higher FPS will cause lower GPU performance.
        /// </summary>
        /// <param name="reso"></param>
        /// <returns>The resolution</returns>
        static private uint GetFpsForResolution(RESOLUTION reso)
        {
            if (reso == RESOLUTION.HD1080) return 30;
            else if (reso == RESOLUTION.HD2K) return 15;
            else if (reso == RESOLUTION.HD720) return 60;
            else if (reso == RESOLUTION.VGA) return 100;
            return 30;
        }

        /// <summary>
        /// Get a quaternion from a matrix with a minimum size of 3x3.
        /// </summary>
        /// <param name="m">The matrix.</param>
        /// <returns>A quaternion which contains the matrix's rotation.</returns>
        public static Quaternion Matrix4ToQuaternion(Matrix4x4 m)
        {
            Quaternion q = new Quaternion();
            q.w = Mathf.Sqrt(Mathf.Max(0, 1 + m[0, 0] + m[1, 1] + m[2, 2])) / 2;
            q.x = Mathf.Sqrt(Mathf.Max(0, 1 + m[0, 0] - m[1, 1] - m[2, 2])) / 2;
            q.y = Mathf.Sqrt(Mathf.Max(0, 1 - m[0, 0] + m[1, 1] - m[2, 2])) / 2;
            q.z = Mathf.Sqrt(Mathf.Max(0, 1 - m[0, 0] - m[1, 1] + m[2, 2])) / 2;
            q.x *= Mathf.Sign(q.x * (m[2, 1] - m[1, 2]));
            q.y *= Mathf.Sign(q.y * (m[0, 2] - m[2, 0]));
            q.z *= Mathf.Sign(q.z * (m[1, 0] - m[0, 1]));
            return q;
        }

        /// <summary>
        /// Performs a rigid transform.
        /// </summary>
        /// <param name="quaternion"></param>
        /// <param name="translation"></param>
        /// <param name="targetQuaternion"></param>
        /// <param name="targetTranslation"></param>
        public static void TransformPose(ref Quaternion quaternion, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation)
        {
            dllz_transform_pose(ref quaternion, ref translation, ref targetQuaternion, ref targetTranslation);
        }

        public static string GenerateUniqueID()
        {
            byte[] array = new byte[37];
            int size = dllz_generate_unique_id(array);

            return new string(System.Text.Encoding.ASCII.GetChars(array));
        }

        /// <summary>
        /// Checks that the ZED plugin's dependencies are installed.
        /// </summary>
        public static bool CheckPlugin()
        {
            try
            {
                int res = dllz_check_plugin(PluginVersion.Major, PluginVersion.Minor);
                if (res!= 0)
                {
                    //0 = installed SDK is compatible with plugin. 1 otherwise.
                    Debug.LogError(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_DEPENDENCIES_ISSUE));
                    return false;
                }
            }
            catch (DllNotFoundException) //In case could not resolve the dll/.so
            {
                Debug.Log("DllNotFoundException");
                Debug.LogError(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_DEPENDENCIES_ISSUE));
                return false;
            }

            pluginIsReady = true;
            return true;
        }

        /// <summary>
        /// Checks if the USB device of a 'brand' type is connected. Used to check if a VR headset are connected
        /// for display in ZEDManager's Inspector.
        /// </summary>
        /// <returns><c>True</c>, if USB device connected was found, <c>false</c> otherwise.</returns>
        /// <param name="Device brand.">Type.</param>
        public static bool CheckUSBDeviceConnected(USB_DEVICE Type)
        {
            if (dllz_find_usb_device(Type))
                return true;
            else
                return false;
        }



        /// <summary>
        /// Private constructor. Initializes lists to hold references to textures and texture requests.
        /// </summary>
        public ZEDCamera()
        {
            //Create the textures
            textures = new Dictionary<int, Dictionary<int, Texture2D>>();
            texturesRequested = new List<TextureRequested>();
        }

        /// <summary>
        /// Create a camera in Live mode (input comes from a connected ZED device, not SVO playback).
        /// </summary>
        /// <param name="verbose">True to create detailed log file of SDK calls at the cost of performance.</param>
        public bool CreateCamera(int cameraID, bool verbose)
        {
            string infoSystem = SystemInfo.graphicsDeviceType.ToString().ToUpper();
            if (!infoSystem.Equals("DIRECT3D11") && !infoSystem.Equals("OPENGLCORE"))
            {
                throw new Exception("The graphic library [" + infoSystem + "] is not supported");
            }
            CameraID = cameraID;
            //tagOneObject += cameraID;
            return dllz_create_camera(cameraID);
        }

        /// <summary>
        /// Closes the camera and deletes all textures.
        /// Once destroyed, you need to recreate a camera instance to restart again.
        /// </summary>
        public void Destroy()
        {
            cameraReady = false;
            dllz_close(CameraID);
            DestroyAllTexture();
        }

        /// <summary>
        /// DLL-friendly version of InitParameters (found in ZEDCommon.cs).
        /// </summary>
        [StructLayout(LayoutKind.Sequential)]
        public struct dll_initParameters
        {
            public sl.INPUT_TYPE inputType;
            /// <summary>
            /// Resolution the ZED will be set to.
            /// </summary>
            public sl.RESOLUTION resolution;
            /// <summary>
            /// Desired camera FPS. Max is set by resolution.
            /// </summary>
            public int cameraFps;
            /// <summary>
            /// ID for identifying which of multiple connected ZEDs to use.
            /// </summary>
            public int cameraDeviceID;
            /// <summary>
            /// True to flip images horizontally.
            /// </summary>
            public int cameraImageFlip;
            /// <summary>
            /// True to disable self-calibration, using unoptimized optional calibration parameters.
            /// False is recommended for optimized calibration.
            /// </summary>
            [MarshalAs(UnmanagedType.U1)]
            public bool cameraDisableSelfCalib;
            /// <summary>
            /// True if depth relative to the right sensor should be computed.
            /// </summary>
            [MarshalAs(UnmanagedType.U1)]
            public bool enableRightSideMeasure;
            /// <summary>
            /// True to skip dropped frames during SVO playback.
            /// </summary>
            [MarshalAs(UnmanagedType.U1)]
            public bool svoRealTimeMode;
            /// <summary>
            /// Quality level of depth calculations. Higher settings improve accuracy but cost performance.
            /// </summary>
            public sl.DEPTH_MODE depthMode;
            /// <summary>
            /// True to stabilize the depth map. Recommended.
            /// </summary>
            [MarshalAs(UnmanagedType.U1)]
            public bool depthStabilization;
            /// <summary>
            /// Minimum distance from the camera from which depth will be computed, in the defined coordinateUnit.
            /// </summary>
            public float depthMinimumDistance;
            /// <summary>
            /// Maximum distance that can be computed.
            /// </summary>
            public float depthMaximumDistance;
            /// <summary>
            /// Coordinate unit for all measurements (depth, tracking, etc.). Meters are recommended for Unity.
            /// </summary>
            public UNIT coordinateUnit;
            /// <summary>
            /// Defines order and direction of coordinate system axes. Unity uses left-handed, Y up, so this setting is recommended.
            /// </summary>
            public COORDINATE_SYSTEM coordinateSystem;
            /// <summary>
            /// ID of the graphics card on which the ZED's computations will be performed.
            /// </summary>
            public int sdkGPUId;
            /// <summary>
            /// True for the SDK to provide text feedback.
            /// </summary>
            public int sdkVerbose;
            /// <summary>
            /// True if sensors are required, false will not trigger an error if sensors are missing.
            /// </summary>
            [MarshalAs(UnmanagedType.U1)]
            public bool sensorsRequired;
            /// <summary>
            /// Whether to enable improved color/gamma curves added in ZED SDK 3.0.
            /// </summary>
            [MarshalAs(UnmanagedType.U1)]
            public bool enableImageEnhancement;
            /// <summary>
            /// Set an optional file path where the SDK can find a file containing the calibration information of the camera computed by OpenCV.
            /// <remarks> Using this will disable the factory calibration of the camera. </remarks>
            /// <warning> Erroneous calibration values can lead to poor SDK modules accuracy. </warning>
            /// </summary>
            public string optionalOpencvCalibrationFile;
            /// <summary>
            /// Define a timeout in seconds after which an error is reported if the \ref open() command fails.
            /// Set to '-1' to try to open the camera endlessly without returning error in case of failure.
            /// Set to '0' to return error in case of failure at the first attempt.
            /// This parameter only impacts the LIVE mode.
            /// </summary>
            public float openTimeoutSec;

            /// <summary>
            /// Copy constructor. Takes values from Unity-suited InitParameters class.
            /// </summary>
            /// <param name="init"></param>
            public dll_initParameters(InitParameters init)
            {
                inputType = init.inputType;
                resolution = init.resolution;
                cameraFps = init.cameraFPS;
                svoRealTimeMode = init.svoRealTimeMode;
                coordinateUnit = init.coordinateUnit;
                depthMode = init.depthMode;
                depthMinimumDistance = init.depthMinimumDistance;
                depthMaximumDistance = init.depthMaximumDistance;
                cameraImageFlip = init.cameraImageFlip;
                enableRightSideMeasure = init.enableRightSideMeasure;
                cameraDisableSelfCalib = init.cameraDisableSelfCalib;
                sdkVerbose = init.sdkVerbose;
                sdkGPUId = init.sdkGPUId;
                cameraDeviceID = init.cameraDeviceID;
                coordinateSystem = init.coordinateSystem;
                depthStabilization = init.depthStabilization;
                sensorsRequired = init.sensorsRequired;
                enableImageEnhancement = init.enableImageEnhancement;
                optionalOpencvCalibrationFile = init.optionalOpencvCalibrationFile;
                openTimeoutSec = init.openTimeoutSec;
            }
        }

        /// <summary>
        /// Checks if the ZED camera is plugged in, opens it, and initializes the projection matix and command buffers for updating textures.
        /// </summary>
        /// <param name="initParameters">Class with all initialization settings.
        /// A newly-instantiated InitParameters will have recommended default values.</param>
        /// <returns>ERROR_CODE: The error code gives information about the internal connection process.
        /// If SUCCESS is returned, the camera is ready to use. Every other code indicates an error.</returns>
        public ERROR_CODE Init(ref InitParameters initParameters)
        {
            //Update values with what we're about to pass to the camera.
            currentResolution = initParameters.resolution;
            fpsMax = GetFpsForResolution(currentResolution);
            if (initParameters.cameraFPS == 0)
            {
                initParameters.cameraFPS = (int)fpsMax;
            }
            dll_initParameters initP = new dll_initParameters(initParameters); //DLL-friendly version of InitParameters.
            initP.coordinateSystem = COORDINATE_SYSTEM.LEFT_HANDED_Y_UP; //Left-hand, Y-up is Unity's coordinate system, so we match that.
            int v = dllz_open(CameraID, ref initP,
                new System.Text.StringBuilder(initParameters.pathSVO, initParameters.pathSVO.Length),
                new System.Text.StringBuilder(initParameters.ipStream, initParameters.ipStream.Length),
                initParameters.portStream,
                new System.Text.StringBuilder(initParameters.sdkVerboseLogFile, initParameters.sdkVerboseLogFile.Length),
                new System.Text.StringBuilder(initParameters.optionalSettingsPath, initParameters.optionalSettingsPath.Length),
                new System.Text.StringBuilder(initParameters.optionalOpencvCalibrationFile, initParameters.optionalOpencvCalibrationFile.Length));

            if ((ERROR_CODE)v != ERROR_CODE.SUCCESS)
            {
                cameraReady = false;
                return (ERROR_CODE)v;
            }

            //Set more values if the initialization was successful.
            imageWidth = dllz_get_width(CameraID);
            imageHeight = dllz_get_height(CameraID);

            if (imageWidth > 0 && imageHeight > 0)
            {
                GetCalibrationParameters(false);
                FillProjectionMatrix();
                baseline = calibrationParametersRectified.Trans[0];
                fov_H = calibrationParametersRectified.leftCam.hFOV * Mathf.Deg2Rad;
                fov_V = calibrationParametersRectified.leftCam.vFOV * Mathf.Deg2Rad;
                cameraModel = GetCameraModel();
                cameraReady = true;
                return (ERROR_CODE)v;
            }
            else
                return sl.ERROR_CODE.CAMERA_NOT_INITIALIZED;

        }



        /// <summary>
        /// Fills the projection matrix with the parameters of the ZED. Needs to be called only once.
        /// This projection matrix is off-center.
        /// </summary>
        /// <param name="zFar"></param>
        /// <param name="zNear"></param>
        public void FillProjectionMatrix(float zFar = 500, float zNear = 0.1f)
        {
            CalibrationParameters parameters = GetCalibrationParameters(false);
            float fovx = parameters.leftCam.hFOV * Mathf.Deg2Rad;
            float fovy = parameters.leftCam.vFOV * Mathf.Deg2Rad;

            float f_imageWidth = (float)ImageWidth;
            float f_imageHeight = (float)ImageHeight;

            //Manually construct the matrix based on initialization/calibration values.
            projection[0, 0] = 1.0f / Mathf.Tan(fovx * 0.5f); //Horizontal FoV.
            projection[0, 1] = 0;
            projection[0, 2] = 2.0f * ((f_imageWidth - 1.0f * parameters.leftCam.cx) / f_imageWidth) - 1.0f; //Horizontal offset.
            projection[0, 3] = 0;

            projection[1, 0] = 0;
            projection[1, 1] = 1.0f / Mathf.Tan(fovy * 0.5f); //Vertical FoV.
            projection[1, 2] = -(2.0f * ((f_imageHeight - 1.0f * parameters.leftCam.cy) / f_imageHeight) - 1.0f); //Vertical offset.
            projection[1, 3] = 0;

            projection[2, 0] = 0;
            projection[2, 1] = 0;
            projection[2, 2] = -(zFar + zNear) / (zFar - zNear); //Near and far planes.
            projection[2, 3] = -(2.0f * zFar * zNear) / (zFar - zNear); //Near and far planes.

            projection[3, 0] = 0;
            projection[3, 1] = 0;
            projection[3, 2] = -1;
            projection[3, 3] = 0.0f;

        }

        /// <summary>
        /// Grabs a new image, rectifies it, and computes the disparity map and (optionally) the depth map.
        /// The grabbing function is typically called in the main loop in a separate thread.
        /// </summary><remarks>For more info, read about the SDK function it calls:
        /// https://www.stereolabs.com/developers/documentation/API/v2.5.1/classsl_1_1Camera.html#afa3678a18dd574e162977e97d7cbf67b </remarks>
        /// <param name="runtimeParameters">Struct holding all grab parameters. </param>
        /// <returns>the function returns false if no problem was encountered,
        /// true otherwise.</returns>
        public sl.ERROR_CODE Grab(ref sl.RuntimeParameters runtimeParameters)
        {
            return (sl.ERROR_CODE)dllz_grab(CameraID, ref runtimeParameters);
        }

        /// <summary>
        /// Return the INPUT_TYPE currently used
        /// </summary>
        /// <returns></returns>
        public sl.INPUT_TYPE GetInputType()
        {
            return (sl.INPUT_TYPE)dllz_get_input_type(CameraID);
        }

        /// <summary>
        /// Creates a file for recording the ZED's output into a .SVO or .AVI video.
        /// </summary><remarks>An SVO is Stereolabs' own format designed for the ZED. It holds the video feed with timestamps
        /// as well as info about the camera used to record it.</remarks>
        /// <param name="videoFileName">Filename. Whether it ends with .svo or .avi defines its file type.</param>
        /// <param name="compressionMode">How much compression to use</param>
        /// <returns>An ERROR_CODE that defines if the file was successfully created and can be filled with images.</returns>
        public ERROR_CODE EnableRecording(string videoFileName, SVO_COMPRESSION_MODE compressionMode = SVO_COMPRESSION_MODE.H264_BASED, int bitrate = 0, int target_fps = 0,bool transcode = false)
        {
            return (ERROR_CODE)dllz_enable_recording(CameraID, new System.Text.StringBuilder(videoFileName, videoFileName.Length), (int)compressionMode,bitrate,target_fps,transcode);
        }

        /// <summary>
        /// Stops recording to an SVO/AVI, if applicable, and closes the file.
        /// </summary>
        public bool DisableRecording()
        {
            return dllz_disable_recording(CameraID);
        }

        /// <summary>
        /// Sets the position of the SVO file currently being read to a desired frame.
        /// </summary>
        /// <param name="frame">Index of the desired frame to be decoded.</param>
        public void SetSVOPosition(int frame)
        {
            dllz_set_svo_position(CameraID, frame);
        }

        /// <summary>
        /// Gets the current confidence threshold value for the disparity map (and by extension the depth map).
        /// Values below the given threshold are removed from the depth map.
        /// </summary>
        /// <returns>Filtering value between 0 and 100.</returns>
        public int GetConfidenceThreshold()
        {
            return dllz_get_confidence_threshold(CameraID);
        }

        /// <summary>
        /// Gets the timestamp at the time the latest grabbed frame was extracted from the USB stream.
        /// This is the closest timestamp you can get from when the image was taken. Must be called after calling grab().
        /// </summary>
        /// <returns>Current timestamp in nanoseconds. -1 means it's is not available, such as with an .SVO file without compression.</returns>
        public ulong GetCameraTimeStamp()
        {
            return dllz_get_image_timestamp(CameraID);
        }

        /// <summary>
        /// Gets the current timestamp at the time the function is called. Can be compared to the camera timestamp
        /// for synchronization, since they have the same reference (the computer's start time).
        /// </summary>
        /// <returns>The timestamp in nanoseconds.</returns>
        public ulong GetCurrentTimeStamp()
        {
            return dllz_get_current_timestamp(CameraID);
        }

        /// <summary>
        /// Get the current position of the SVO being recorded to.
        /// </summary>
        /// <returns>Index of the frame being recorded to.</returns>
        public int GetSVOPosition()
        {
            return dllz_get_svo_position(CameraID);
        }

        /// <summary>
        /// Gets the total number of frames in the loaded SVO file.
        /// </summary>
        /// <returns>Total frames in the SVO file. Returns -1 if the SDK is not reading an SVO.</returns>
        public int GetSVONumberOfFrames()
        {
            return dllz_get_svo_number_of_frames(CameraID);
        }

        /// <summary>
        /// Gets the closest measurable distance by the camera, according to the camera type and depth map parameters.
        /// </summary>
        /// <returns>The nearest possible depth value.</returns>
        public float GetDepthMinRangeValue()
        {
            return dllz_get_depth_min_range_value(CameraID);
        }

        /// <summary>
        /// Returns the current maximum distance of depth/disparity estimation.
        /// </summary>
        /// <returns>The closest depth</returns>
        public float GetDepthMaxRangeValue()
        {
            return dllz_get_depth_max_range_value(CameraID);
        }

        /// <summary>
        /// Initialize and Start the tracking functions
        /// </summary>
        /// <param name="quat"> rotation used as initial world transform. By default it should be identity.</param>
        /// <param name="vec"> translation used as initial world transform. By default it should be identity.</param>
        /// <param name="enableSpatialMemory">  (optional) define if spatial memory is enable or not.</param>
        /// <param name="areaFilePath"> (optional) file of spatial memory file that has to be loaded to relocate in the scene.</param>
        /// <returns></returns>
        public sl.ERROR_CODE EnableTracking(ref Quaternion quat, ref Vector3 vec, bool enableSpatialMemory = true, bool enablePoseSmoothing = false, bool enableFloorAlignment = false, bool trackingIsStatic = false,
            bool enableIMUFusion = true, string areaFilePath = "")
        {
            sl.ERROR_CODE trackingStatus = sl.ERROR_CODE.CAMERA_NOT_DETECTED;
            trackingStatus = (sl.ERROR_CODE)dllz_enable_tracking(CameraID, ref quat, ref vec, enableSpatialMemory, enablePoseSmoothing, enableFloorAlignment,
                trackingIsStatic, enableIMUFusion, new System.Text.StringBuilder(areaFilePath, areaFilePath.Length));
            return trackingStatus;
        }

        /// <summary>
        /// Reset tracking
        /// </summary>
        /// <param name="rotation"></param>
        /// <param name="translation"></param>
        /// <returns></returns>
        public sl.ERROR_CODE ResetTracking(Quaternion rotation, Vector3 translation)
        {
            sl.ERROR_CODE trackingStatus = sl.ERROR_CODE.CAMERA_NOT_DETECTED;
            trackingStatus = (sl.ERROR_CODE)dllz_reset_tracking(CameraID, rotation, translation);
            return trackingStatus;
        }

        public sl.ERROR_CODE ResetTrackingWithOffset(Quaternion rotation, Vector3 translation, Quaternion rotationOffset, Vector3 translationOffset)
        {
            sl.ERROR_CODE trackingStatus = sl.ERROR_CODE.CAMERA_NOT_DETECTED;
            trackingStatus = (sl.ERROR_CODE)dllz_reset_tracking_with_offset(CameraID, rotation, translation, rotationOffset, translationOffset);
            return trackingStatus;
        }


        public sl.ERROR_CODE EstimateInitialPosition(ref Quaternion rotation, ref Vector3 translation)
        {
            sl.ERROR_CODE status = sl.ERROR_CODE.CAMERA_NOT_DETECTED;
            status = (sl.ERROR_CODE)dllz_estimate_initial_position(CameraID, ref rotation, ref translation, 2, 100);
            return status;
        }


        /// <summary>
        ///  Stop the motion tracking, if you want to restart, call enableTracking().
        /// </summary>
        /// <param name="path">The path to save the area file</param>
        public void DisableTracking(string path = "")
        {
            dllz_disable_tracking(CameraID, new System.Text.StringBuilder(path, path.Length));
        }

        public sl.ERROR_CODE SaveCurrentArea(string path)
        {
            return (sl.ERROR_CODE)dllz_save_current_area(CameraID, new System.Text.StringBuilder(path, path.Length));
        }

        /// <summary>
        /// Returns the current state of the area learning saving
        /// </summary>
        /// <returns></returns>
        public sl.AREA_EXPORT_STATE GetAreaExportState()
        {
            return (sl.AREA_EXPORT_STATE)dllz_get_area_export_state(CameraID);
        }

        /// <summary>
        /// Register a texture to the base
        /// </summary>
        private void RegisterTexture(Texture2D m_Texture, int type, int mode)
        {
            TextureRequested t = new TextureRequested();

            t.type = type;
            t.option = mode;
            texturesRequested.Add(t);
            textures[type].Add(mode, m_Texture);
        }

        /// <summary>
        /// Creates or retrieves a texture of type Image. Will be updated each frame automatically.
        /// <para>Image type textures are human-viewable, but have less accuracy than measure types.</para>
        /// </summary>
        /// <remarks>
        /// Note that the new texture will exist on the GPU, so accessing from the CPU will result in an empty image. To get images
        /// with the CPU, use RetrieveImage() instead and specify CPU memory in the arguments.
        /// </remarks>
        /// <param name="mode">What the image shows (left RGB image, right depth image, normal map, etc.)</param>
        /// /// <param name="resolution">Resolution of the image. Should correspond to ZED's current resolution.</param>
        /// <returns>Texture2D that will update each frame with the ZED SDK's output.</returns>
        public Texture2D CreateTextureImageType(VIEW mode, Resolution resolution = new Resolution())
        {
            if (HasTexture((int)TYPE_VIEW.RETRIEVE_IMAGE, (int)mode))
            {
                return textures[(int)TYPE_VIEW.RETRIEVE_IMAGE][(int)mode];
            }
            if (!cameraReady)
                return null;

            int width = ImageWidth;
            int height = imageHeight;
            if (!((uint)resolution.width == 0 && (uint)resolution.height == 0)) //Handles if Resolution arg was empty, as in the default.
            {
                width = (int)resolution.width;
                height = (int)resolution.height;
            }

            Texture2D m_Texture;
            if (mode == VIEW.LEFT_GREY || mode == VIEW.RIGHT_GREY || mode == VIEW.LEFT_UNRECTIFIED_GREY || mode == VIEW.RIGHT_UNRECTIFIED_GREY)
            {
                m_Texture = new Texture2D(width, height, TextureFormat.Alpha8, false);
            }
            else if (mode == VIEW.SIDE_BY_SIDE)
            {
                m_Texture = new Texture2D(width * 2, height, TextureFormat.RGBA32, false); //Needs to be twice as wide for SBS because there are two images.
            }
            else
            {

                m_Texture = new Texture2D(width, height, TextureFormat.RGBA32, false);
            }
            m_Texture.filterMode = FilterMode.Point;
            m_Texture.wrapMode = TextureWrapMode.Clamp;

            m_Texture.Apply();

            IntPtr idTexture = m_Texture.GetNativeTexturePtr();
            int error = dllz_register_texture_image_type(CameraID, (int)mode, idTexture, (int)resolution.width, (int)resolution.height);
            if (error != 0)
            {
                throw new Exception("CUDA error:" + error + " if the problem appears again, please contact Stereolabs support.");
            }
            if (!textures.ContainsKey((int)TYPE_VIEW.RETRIEVE_IMAGE))
            {
                textures.Add((int)TYPE_VIEW.RETRIEVE_IMAGE, new Dictionary<int, Texture2D>());
            }
            RegisterTexture(m_Texture, (int)TYPE_VIEW.RETRIEVE_IMAGE, (int)mode); //Save so you don't make a duplicate if another script needs the texture.

            return m_Texture;
        }

        /// <summary>
        /// Creates or retrievse a texture of type Measure. Will be updated each frame automatically.
        /// Measure types are not human-viewable, but don't lose any accuracy.
        /// </summary>
        /// <remarks>
        /// Note that the new texture will exist on the GPU, so accessing from the CPU will result in an empty image. To get images
        /// with the CPU, use RetrieveMeasure() instead and specify CPU memory in the arguments.
        /// </remarks>
        /// <param name="mode">What the image shows (disparity, depth, confidence, etc.)</param>
        /// <param name="resolution">Resolution of the image. Should correspond to ZED's current resolution.</param>
        /// <returns>Texture2D that will update each frame with the ZED SDK's output.</returns>
        public Texture2D CreateTextureMeasureType(MEASURE mode, Resolution resolution = new Resolution())
        {
            if (HasTexture((int)TYPE_VIEW.RETRIEVE_MEASURE, (int)mode))
            {
                return textures[(int)TYPE_VIEW.RETRIEVE_MEASURE][(int)mode];
            }
            if (!cameraReady)
                return null;

            Texture2D m_Texture;
            int width = ImageWidth;
            int height = imageHeight;
            if (!((uint)resolution.width == 0 && (uint)resolution.height == 0))
            {
                width = (int)resolution.width;
                height = (int)resolution.height;
            }
            //Handle the mode options.
            if (mode == MEASURE.XYZ || mode == MEASURE.XYZABGR || mode == MEASURE.XYZARGB || mode == MEASURE.XYZBGRA || mode == MEASURE.XYZRGBA || mode == MEASURE.NORMALS
                || mode == MEASURE.XYZ_RIGHT || mode == MEASURE.XYZABGR_RIGHT || mode == MEASURE.XYZARGB_RIGHT || mode == MEASURE.XYZBGRA_RIGHT || mode == MEASURE.XYZRGBA_RIGHT || mode == MEASURE.NORMALS_RIGHT)
            {
                m_Texture = new Texture2D(width, height, TextureFormat.RGBAFloat, false, true);
            }
            else if (mode == MEASURE.DEPTH || mode == MEASURE.CONFIDENCE || mode == MEASURE.DISPARITY || mode == MEASURE.DEPTH_RIGHT || mode == MEASURE.DISPARITY_RIGHT)
            {
                m_Texture = new Texture2D(width, height, TextureFormat.RFloat, false, true);
            }
            else
            {
                m_Texture = new Texture2D(width, height, TextureFormat.RGBA32, false, true);
            }
            if (!((uint)resolution.width == 0 && (uint)resolution.height == 0))
            {
                m_Texture.filterMode = FilterMode.Bilinear;
            }
            else
            {
                m_Texture.filterMode = FilterMode.Point;
            }
            m_Texture.wrapMode = TextureWrapMode.Clamp;
            m_Texture.Apply();

            IntPtr idTexture = m_Texture.GetNativeTexturePtr();

            int error = dllz_register_texture_measure_type(CameraID, (int)mode, idTexture, (int)resolution.width, (int)resolution.height);

            if (error != 0)
            {
                throw new Exception("CUDA error:" + error + " if the problem appears again, please contact Stereolabs support.");
            }
            if (!textures.ContainsKey((int)TYPE_VIEW.RETRIEVE_MEASURE))
            {
                textures.Add((int)TYPE_VIEW.RETRIEVE_MEASURE, new Dictionary<int, Texture2D>());
            }

            RegisterTexture(m_Texture, (int)TYPE_VIEW.RETRIEVE_MEASURE, (int)mode); //Save to avoid duplicates if texture type is needed elsewhere.

            return m_Texture;
        }

        /// <summary>
        /// Unregisters a texture of type Image. The texture will be destroyed and will no longer be updated each frame.
        /// </summary>
        /// <param name="view">What the image was showing (left RGB image, right depth image, normal map, etc.)</param>
        public bool UnregisterTextureImageType(sl.VIEW view)
        {
            DestroyTextureImageType((int)view);
            return dllz_unregister_texture_image_type(CameraID, (int)view) != 0;
        }

        /// <summary>
        /// Unregisters a texture of type Measure, The texture will be destroyed and will no longer be updated each frame.
        /// </summary>
        /// <param name="measure">What the measure was showing (disparity, depth, confidence, etc.)</param>
        public bool UnregisterTextureMeasureType(sl.MEASURE measure)
        {
            DestroyTextureMeasureType((int)measure);
            return dllz_unregister_texture_measure_type(CameraID, (int)measure) != 0;
        }

        /// <summary>
        /// Copies a Texture of type Image into a ZEDMat. This function should be called after a Grab() and an UpdateTextures().
        /// </summary>
        /// <param name="view">View type (left rgb, right depth, etc.)</param>
        /// <returns>New ZEDMat for an image texture of the selected view type.</returns>
        public ZEDMat RequestCopyMatFromTextureImageType(sl.VIEW view)
        {
            return new ZEDMat(dllz_get_copy_mat_texture_image_type(CameraID, (int)view));
        }

        /// <summary>
        /// Copies a texture of type Measure into a ZEDMat. This function should be called after a Grab() and an UpdateTextures().
        /// </summary>
        /// <param name="measure">Measure type (depth, disparity, confidence, etc.)</param>
        /// <returns>New ZEDMat for a measure texture of the selected measure type.</returns>
        public ZEDMat RequestCopyMatFromTextureMeasureType(sl.MEASURE measure)
        {
            return new ZEDMat(dllz_get_copy_mat_texture_measure_type(CameraID, (int)measure));
        }

        /// <summary>
        /// Destroys a texture and removes its reference in the textures list.
        /// </summary>
        /// <param name="type">Type of texture as an int (0 for Image, 1 for Measure).</param>
        /// <param name="option">Corresponding options enum (sl.VIEW if Image type, sl.MEASURE if Measure type) as an integer.</param>
        private void DestroyTexture(int type, int option)
        {
            if (textures.ContainsKey(type) && textures[type].ContainsKey(option))
            {
                textures[type][option] = null;
                textures[type].Remove(option);
                if (textures[type].Count == 0)
                {
                    textures.Remove(type);
                }
            }
        }

        /// <summary>
        /// Destroy all textures that were ever requested.
        /// </summary>
        private void DestroyAllTexture()
        {
            if (cameraReady)
            {
                foreach (TextureRequested t in texturesRequested)
                {
                    DestroyTexture(t.type, t.option);
                }
                texturesRequested.Clear();
            }
        }


        /// <summary>
        /// Destroy a texture created with CreateTextureImageType().
        /// </summary>
        /// <param name="type">View type (left RGB, right depth image, etc.) as an integer.</param>
        private void DestroyTextureImageType(int option)
        {
            DestroyTexture((int)TYPE_VIEW.RETRIEVE_IMAGE, option);
        }

        /// <summary>
        /// Destroy a texture created with CreateTextureMeasureType().
        /// </summary>
        /// <param name="type">Measure type (depth, confidence, etc.) as an integer.</param>
        private void DestroyTextureMeasureType(int option)
        {
            DestroyTexture((int)TYPE_VIEW.RETRIEVE_MEASURE, option);
        }

        /// <summary>
        /// Retrieves a texture that was already created.
        /// </summary>
        /// <param name="type">Type of texture as an integer (0 for Image, 1 for Measure).</param>
        /// <param name="mode">Corresponding options enum (sl.VIEW if Image type, sl.MEASURE if Measure type) as an integer.</param>
        /// <returns>Existing texture of the given type/mode.</returns>
        public Texture2D GetTexture(TYPE_VIEW type, int mode)
        {
            if (HasTexture((int)type, mode))
            {
                return textures[(int)type][mode];
            }
            return null;
        }

        /// <summary>
        /// Checks if a texture of a given type has already been created.
        /// </summary>
        /// <param name="type">Type of texture as an integer (0 for Image, 1 for Measure).</param>
        /// <param name="mode">Corresponding options enum (sl.VIEW if Image type, sl.MEASURE if Measure type) as an integer.</param>
        /// <returns>True if the texture is available.</returns>
        private bool HasTexture(int type, int mode)
        {
            if (cameraReady) //Texture can't exist if the ZED hasn't been initialized yet.
            {
                return textures.ContainsKey((int)type) && textures[type].ContainsKey((int)mode);
            }
            return false;
        }

        /// <summary>
        /// Returns the current camera FPS. This is limited primarily by resolution but can also be lower due to
        /// setting a lower desired resolution in Init() or from USB connection/bandwidth issues.
        /// </summary>
        /// <returns>The current fps</returns>
        public float GetCameraFPS()
        {
            return dllz_get_camera_fps(CameraID);
        }



        public CalibrationParameters GetCalibrationParameters(bool raw = false)
        {

            IntPtr p = dllz_get_calibration_parameters(CameraID, raw);

            if (p == IntPtr.Zero)
            {
                return new CalibrationParameters();
            }
            CalibrationParameters parameters = (CalibrationParameters)Marshal.PtrToStructure(p, typeof(CalibrationParameters));

            if (raw)
                calibrationParametersRaw = parameters;
            else
                calibrationParametersRectified = parameters;


            return parameters;

        }

        public SensorsConfiguration GetInternalSensorsConfiguration()
        {
            IntPtr p = dllz_get_sensors_configuration(CameraID);

            if (p == IntPtr.Zero)
            {
                return new SensorsConfiguration();
            }
            SensorsConfiguration configuration = (SensorsConfiguration)Marshal.PtrToStructure(p, typeof(SensorsConfiguration));

            return configuration;
        }

        /// <summary>
        /// Gets the ZED camera model (ZED or ZED Mini).
        /// </summary>
        /// <returns>Model of the ZED as sl.MODEL.</returns>
        public sl.MODEL GetCameraModel()
        {
            return (sl.MODEL)dllz_get_camera_model(CameraID);
        }

        /// <summary>
        /// Gets the ZED's camera firmware version.
        /// </summary>
        /// <returns>Firmware version.</returns>
        public int GetCameraFirmwareVersion()
        {
            return dllz_get_camera_firmware(CameraID);
        }

        /// <summary>
        /// Gets the ZED's sensors firmware version.
        /// </summary>
        /// <returns>Firmware version.</returns>
        public int GetSensorsFirmwareVersion()
        {
            return dllz_get_sensors_firmware(CameraID);
        }

        /// <summary>
        /// Gets the ZED's serial number.
        /// </summary>
        /// <returns>Serial number</returns>
        public int GetZEDSerialNumber()
        {
            return dllz_get_zed_serial(CameraID);
        }

        /// <summary>
        /// Returns the ZED's vertical field of view in radians.
        /// </summary>
        /// <returns>Vertical field of view.</returns>
        public float GetFOV()
        {
            return GetCalibrationParameters(false).leftCam.vFOV * Mathf.Deg2Rad;
        }


        /// <summary>
        /// Computes textures from the ZED. The new textures will not be displayed until an event is sent to the render thread.
        /// This event is called from UpdateTextures().
        /// </summary>
        public void RetrieveTextures()
        {
            dllz_retrieve_textures(CameraID);
        }

        /// <summary>
        /// Swaps textures safely between the acquisition and rendering threads.
        /// </summary>
        public void SwapTextures()
        {
            dllz_swap_textures(CameraID);
        }

        /// <summary>
        /// Timestamp of the images used the last time the ZED wrapper updated textures.
        /// </summary>
        /// <returns></returns>
        public ulong GetImagesTimeStamp()
        {
            return dllz_get_updated_textures_timestamp(CameraID);
        }

        /// <summary>
        /// Perform a new self calibration process.
        /// In some cases, due to temperature changes or strong vibrations, the stereo calibration becomes less accurate.
        /// Use this function to update the self-calibration data and get more reliable depth values.
        /// <remarks>The self calibration will occur at the next \ref grab() call.</remarks>
        /// New values will then be available in \ref getCameraInformation(), be sure to get them to still have consistent 2D <-> 3D conversion.
        /// </summary>
        /// <param name="cameraID"></param>
        /// <returns></returns>
        public void UpdateSelfCalibration()
        {
            dllz_update_self_calibration(CameraID);
        }

        /// <summary>
        /// Gets the number of frames dropped since Grab() was called for the first time.
        /// Based on camera timestamps and an FPS comparison.
        /// </summary><remarks>Similar to the Frame Drop display in the ZED Explorer app.</remarks>
        /// <returns>Frames dropped since first Grab() call.</returns>
        public uint GetFrameDroppedCount()
        {
            return dllz_get_frame_dropped_count(CameraID);
        }

        /// <summary>
        /// Gets the percentage of frames dropped since Grab() was called for the first time.
        /// </summary>
        /// <returns>Percentage of frames dropped.</returns>
        public float GetFrameDroppedPercent()
        {
            return dllz_get_frame_dropped_percent(CameraID);
        }

        /// <summary>
        /// Gets the position of the camera and the current state of the ZED Tracking.
        /// </summary>
        /// <param name="rotation">Quaternion filled with the current rotation of the camera depending on its reference frame.</param>
        /// <param name="position">Vector filled with the current position of the camera depending on its reference frame.</param>
        /// <param name="referenceType">Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose.
        /// WORLD gives cumulative movements since tracking started.</param>
        /// <returns>State of ZED's Tracking system (off, searching, ok).</returns>
        public TRACKING_STATE GetPosition(ref Quaternion rotation, ref Vector3 position, REFERENCE_FRAME referenceType = REFERENCE_FRAME.WORLD)
        {
            return (TRACKING_STATE)dllz_get_position(CameraID, ref rotation, ref position, (int)referenceType);
        }

        /// <summary>
        /// Gets the current position of the camera and state of the tracking, with an optional offset to the tracking frame.
        /// </summary>
        /// <param name="rotation">Quaternion filled with the current rotation of the camera depending on its reference frame.</param>
        /// <param name="position">Vector filled with the current position of the camera depending on its reference frame.</param>
        /// <param name="targetQuaternion">Rotational offset applied to the tracking frame.</param>
        /// <param name="targetTranslation">Positional offset applied to the tracking frame.</param>
        /// <param name="referenceFrame">Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose.
        /// WORLD gives cumulative movements since tracking started.</param>
        /// <returns>State of ZED's Tracking system (off, searching, ok).</returns>
        public TRACKING_STATE GetPosition(ref Quaternion rotation, ref Vector3 translation, ref Quaternion targetQuaternion, ref Vector3 targetTranslation, REFERENCE_FRAME referenceFrame = REFERENCE_FRAME.WORLD)
        {
            return (TRACKING_STATE)dllz_get_position_at_target_frame(CameraID, ref rotation, ref translation, ref targetQuaternion, ref targetTranslation, (int)referenceFrame);
        }


        /// <summary>
        /// Gets the current position of the camera and state of the tracking, with a defined tracking frame.
        /// A tracking frame defines what part of the ZED is its center for tracking purposes. See ZEDCommon.TRACKING_FRAME.
        /// </summary>
        /// <param name="rotation">Quaternion filled with the current rotation of the camera depending on its reference frame.</param>
        /// <param name="position">Vector filled with the current position of the camera depending on its reference frame.</param>
        /// <param name="trackingFrame">Center of the ZED for tracking purposes (left eye, center, right eye).</param>
        /// <param name="referenceFrame">Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose.
        /// WORLD gives cumulative movements since tracking started.</param>
        /// <returns>State of ZED's Tracking system (off, searching, ok).</returns>
        public TRACKING_STATE GetPosition(ref Quaternion rotation, ref Vector3 translation, TRACKING_FRAME trackingFrame, REFERENCE_FRAME referenceFrame = REFERENCE_FRAME.WORLD)
        {
            Quaternion rotationOffset = Quaternion.identity;
            Vector3 positionOffset = Vector3.zero;
            switch (trackingFrame) //Add offsets to account for different tracking frames.
            {
                case sl.TRACKING_FRAME.LEFT_EYE:
                    positionOffset = new Vector3(0, 0, 0);
                    break;
                case sl.TRACKING_FRAME.RIGHT_EYE:
                    positionOffset = new Vector3(Baseline, 0, 0);
                    break;
                case sl.TRACKING_FRAME.CENTER_EYE:
                    positionOffset = new Vector3(Baseline / 2.0f, 0, 0);
                    break;
            }

            return (TRACKING_STATE)dllz_get_position_at_target_frame(CameraID, ref rotation, ref translation, ref rotationOffset, ref positionOffset, (int)referenceFrame);
        }

        /// <summary>
        /// Gets the current position of the camera and state of the tracking, filling a Pose struct useful for AR pass-through.
        /// </summary>
        /// <param name="pose">Current pose.</param>
        /// <param name="referenceType">Reference frame for setting the rotation/position. CAMERA gives movement relative to the last pose.
        /// WORLD gives cumulative movements since tracking started.</param>
        /// <returns>State of ZED's Tracking system (off, searching, ok).</returns>
        public TRACKING_STATE GetPosition(ref Pose pose, REFERENCE_FRAME referenceType = REFERENCE_FRAME.WORLD)
        {
            return (TRACKING_STATE)dllz_get_position_data(CameraID, ref pose, (int)referenceType);
        }


        /// <summary>
        /// Sets a prior to the IMU orientation (only for ZED-M).
        /// Prior must come from a external IMU, such as the HMD orientation and should be in a time frame
        /// that's as close as possible to the camera.
        /// </summary>
        /// <returns>Error code status.</returns>
        /// <param name="rotation">Prior rotation.</param>
        public ERROR_CODE SetIMUOrientationPrior(ref Quaternion rotation)
        {
            sl.ERROR_CODE trackingStatus = sl.ERROR_CODE.CAMERA_NOT_DETECTED;
            trackingStatus = (sl.ERROR_CODE)dllz_set_imu_prior_orientation(CameraID, rotation);
            return trackingStatus;
        }
        /// <summary>
        /// Gets the rotation given by the ZED-M/ZED2 IMU. Return an error if using ZED (v1) which does not contains internal sensors
        /// </summary>
        /// <param name="rotation">Rotation from the IMU.</param>
        /// <param name="referenceTime">time reference.</param>
        /// <returns>Error code status.</returns>
        public ERROR_CODE GetInternalIMUOrientation(ref Quaternion rotation, TIME_REFERENCE referenceTime = TIME_REFERENCE.IMAGE)
        {
            sl.ERROR_CODE err = sl.ERROR_CODE.CAMERA_NOT_DETECTED;
            err = (sl.ERROR_CODE)dllz_get_internal_imu_orientation(CameraID, ref rotation, (int)referenceTime);
            return err;
        }

        /// <summary>
        /// Gets the full Sensor data from the ZED-M or ZED2 . Return an error if using ZED (v1) which does not contains internal sensors
        /// </summary>
        /// <param name="data">Sensor Data.</param>
        /// <param name="referenceTime">Time reference.</param>
        /// <returns>Error code status.</returns>
        public ERROR_CODE GetInternalSensorsData(ref SensorsData data, TIME_REFERENCE referenceTime = TIME_REFERENCE.IMAGE)
        {
            sl.ERROR_CODE err = sl.ERROR_CODE.CAMERA_NOT_DETECTED;
            err = (sl.ERROR_CODE)dllz_get_internal_sensors_data(CameraID, ref data, (int)referenceTime);
            return err;
        }

        /// <summary>
        /// Converts a float array to a matrix.
        /// </summary>
        /// <param name="m">Matrix to be filled.</param>
        /// <param name="f">Float array to be turned into a matrix.</param>
        static public void Float2Matrix(ref Matrix4x4 m, float[] f)
        {
            if (f == null) return;
            if (f.Length != 16) return;
            for (int i = 0; i < 4; ++i)
            {
                for (int j = 0; j < 4; ++j)
                {
                    m[i, j] = f[i * 4 + j];
                }
            }
        }

        /// <summary>
        /// Sets a value in the ZED's camera settings.
        /// </summary>
        /// <param name="settings">Setting to be changed (brightness, contrast, gain, exposure, etc.)</param>
        /// <param name="value">New value.</param>
        /// <param name="usedefault">True to set the settings to their default values.</param>
        public void SetCameraSettings(CAMERA_SETTINGS settings, int value)
        {
            AssertCameraIsReady();
            //cameraSettingsManager.SetCameraSettings(CameraID, settings, value);
            dllz_set_video_settings(CameraID, (int)settings, value);
        }

        /// <summary>
        /// Gets the value of a given setting from the ZED camera.
        /// </summary>
        /// <param name="settings">Setting to be retrieved (brightness, contrast, gain, exposure, etc.)</param>
        public int GetCameraSettings(CAMERA_SETTINGS settings)
        {
            AssertCameraIsReady();
            return dllz_get_video_settings(CameraID, (int)settings);
            //return cameraSettingsManager.GetCameraSettings(CameraID, settings);
        }

        /// <summary>
        /// Overloaded function for CAMERA_SETTINGS.AEC_AGC_ROI (requires iRect as input)
        /// </summary>
        /// <param name="settings"> Must be set to CAMERA_SETTINGS.AEC_AGC_ROI. Otherwise will return -1.</param>
        /// <param name="side"> defines left=0 or right=1 or both=2 sensor target</param>
        /// <param name="roi">the roi defined as a sl.Rect</param>
        /// <param name="reset">Defines if the target must be reset to full sensor</param>
        /// <returns></returns>
        public int SetCameraSettings(CAMERA_SETTINGS settings, int side, iRect roi,bool reset)
        {
            AssertCameraIsReady();
            if (settings == CAMERA_SETTINGS.AEC_AGC_ROI)
                return dllz_set_roi_for_aec_agc(CameraID, side, roi, reset);
            else
                return -1;
        }

        /// <summary>
        /// Overloaded function for CAMERA_SETTINGS.AEC_AGC_ROI (requires iRect as input)
        /// </summary>
        /// <param name="settings"> Must be set to CAMERA_SETTINGS.AEC_AGC_ROI. Otherwise will return -1.</param>
        /// <param name="side"> defines left=0 or right=1 or both=2 sensor target.</param>
        /// <param name="roi"> Roi that will be filled.</param>
        /// <returns></returns>
        public int GetCameraSettings(CAMERA_SETTINGS settings, int side,ref iRect roi)
        {
            AssertCameraIsReady();
            if (settings == CAMERA_SETTINGS.AEC_AGC_ROI)
                return dllz_get_roi_for_aec_agc(CameraID, side, ref roi);
            else
                return -1;
        }

        /// <summary>
        /// Reset camera settings to default
        /// </summary>
        public void ResetCameraSettings()
        {
            AssertCameraIsReady();
            //cameraSettingsManager.ResetCameraSettings(this);

            SetCameraSettings(sl.CAMERA_SETTINGS.BRIGHTNESS, sl.ZEDCamera.brightnessDefault);
            SetCameraSettings(sl.CAMERA_SETTINGS.CONTRAST, sl.ZEDCamera.contrastDefault);
            SetCameraSettings(sl.CAMERA_SETTINGS.HUE, sl.ZEDCamera.hueDefault);
            SetCameraSettings(sl.CAMERA_SETTINGS.SATURATION, sl.ZEDCamera.saturationDefault);
            SetCameraSettings(sl.CAMERA_SETTINGS.SHARPNESS, sl.ZEDCamera.sharpnessDefault);
            SetCameraSettings(sl.CAMERA_SETTINGS.GAMMA, sl.ZEDCamera.gammaDefault);
            SetCameraSettings(sl.CAMERA_SETTINGS.AUTO_WHITEBALANCE, 1);
            SetCameraSettings(sl.CAMERA_SETTINGS.AEC_AGC, 1);
            SetCameraSettings(sl.CAMERA_SETTINGS.LED_STATUS, 1);

            SetCameraSettings(sl.CAMERA_SETTINGS.AEC_AGC_ROI,2, new sl.iRect(), true);
        }

        /// <summary>
        /// Loads camera settings (brightness, contrast, hue, saturation, gain, exposure) from a file in the
        /// project's root directory.
        /// </summary>
        /// <param name="path">Filename.</param>
        public void LoadCameraSettings(string path)
        {
            cameraSettingsManager.LoadCameraSettings(this, path);
        }

        /// <summary>
        /// Save the camera settings (brightness, contrast, hue, saturation, gain, exposure) to a file
        /// relative to the project's root directory.
        /// </summary>
        /// <param name="path">Filename.</param>
        public void SaveCameraSettings(string path)
        {
            cameraSettingsManager.SaveCameraSettings(path);
        }

        /// <summary>
        /// Retrieves camera settings from the ZED camera and loads them into a CameraSettings instance
        /// handled by ZEDCameraSettingsManager.
        /// </summary>
        public void RetrieveCameraSettings()
        {
            cameraSettingsManager.RetrieveSettingsCamera(this);
        }

        /// <summary>
        /// Returns if the camera's exposure mode is set to automatic.
        /// </summary>
        /// <returns><c>True</c> if automatic, <c>false</c> if manual.</returns>
        public bool GetExposureUpdateType()
        {
            return cameraSettingsManager.auto;
        }

        /// <summary>
        /// Returns if the camera's white balance  is set to automatic.
        /// </summary>
        /// <returns><c>True</c> if automatic, <c>false</c> if manual.</returns>
        public bool GetWhiteBalanceUpdateType()
        {
            return cameraSettingsManager.whiteBalanceAuto;
        }

        /// <summary>
        /// Applies all the settings registered in the ZEDCameraSettingsManager instance to the actual ZED camera.
        /// </summary>
        public void SetCameraSettings()
        {
            cameraSettingsManager.SetSettings(this);
        }

        /// <summary>
        /// Gets the version of the currently installed ZED SDK.
        /// </summary>
        /// <returns>ZED SDK version as a string in the format MAJOR.MINOR.PATCH.</returns>
        public static string GetSDKVersion()
        {
            return PtrToStringUtf8(dllz_get_sdk_version());
        }

        /// <summary>
        /// List all the connected devices with their associated information.
        /// This function lists all the cameras available and provides their serial number, models and other information.
        /// </summary>
        /// <returns>The device properties for each connected camera</returns>
        public static sl.DeviceProperties[] GetDeviceList(out int nbDevices)
        {
            sl.DeviceProperties[] deviceList = new sl.DeviceProperties[(int)Constant.MAX_CAMERA_PLUGIN];
            dllz_get_device_list(deviceList, out nbDevices);

            return deviceList;
        }

        /// <summary>
        /// Performs an hardware reset of the ZED 2/ZED 2i.
        /// </summary>
        /// <param name="serialNumber">Serial number of the camera</param>
        /// <param name="fullReboot"> Perform a full reboot (Sensors and Video modules)</param>
        /// <returns>ZED SDK version as a string in the format MAJOR.MINOR.PATCH.</returns>
        public static sl.ERROR_CODE Reboot(int serialNumber, bool fullReboot = true)
        {
            return (sl.ERROR_CODE)dllz_reboot(serialNumber, fullReboot);
        }

        /// <summary>
        /// Checks if the camera has been initialized and the plugin has been loaded. Throws exceptions otherwise.
        /// </summary>
        private void AssertCameraIsReady()
        {
            if (!cameraReady)
                throw new Exception("ZED camera is not connected or Init() was not called.");

            if (!pluginIsReady)
                throw new Exception("Could not resolve ZED plugin dependencies.");

        }

        /// <summary>
        /// Deploys an event that causes the textures to be updated with images received from the ZED.
        /// Should be called after RetrieveTextures() so there are new images available.
        /// </summary>
        public void UpdateTextures()
        {
            GL.IssuePluginEvent(GetRenderEventFunc(), 1);
        }


        ///////////////////////////// SINGLE PIXEL UTILITY FUNCTIONS ////////////////////////////////

        /// <summary>
        /// Gets the current depth value of a pixel in the UNITS specified when the camera was started with Init().
        /// May result in errors if the ZED image does not fill the whole screen.
        /// <param name="position">The pixel's screen space coordinates as a Vector3.
        /// The Z component is unused - designed to take input from Input.mousePosition.</param>
        /// <returns>Depth value as a float.</returns>
        /// </summary>
        public float GetDepthValue(Vector3 pixel)
        {
            if (!cameraReady)
            {
                return -1;
            }

            float posX = (float)ImageWidth * (float)((float)pixel.x / (float)Screen.width);
            float posY = ImageHeight * (1 - (float)pixel.y / (float)Screen.height);

            posX = Mathf.Clamp(posX, 0, ImageWidth);
            posY = Mathf.Clamp(posY, 0, ImageHeight);
            float d = dllz_get_depth_value(CameraID, (uint)posX, (uint)posY);
            return d;
        }

        /// <summary>
        /// Gets the current Euclidean distance (sqrt(x²+y²+z²)) of the targeted pixel of the screen to the camera.
        /// May result in errors if the ZED image does not fill the whole screen.
        /// <param name="pixel">The pixel's screen space coordinates as a Vector3.
        /// The Z component is unused - designed to take input from Input.mousePosition.</param>
        /// <returns>Distance as a float.</returns>
        /// </summary>
        public float GetDistanceValue(Vector3 pixel)
        {
            if (!cameraReady) //Do nothing if the ZED isn't initialized.
            {
                return -1;
            }
            float posX = ImageWidth * (float)pixel.x / (float)Screen.width;
            float posY = ImageHeight * (1 - (float)pixel.y / (float)Screen.height);
            posX = Mathf.Clamp(posX, 0, ImageWidth);
            posY = Mathf.Clamp(posY, 0, ImageHeight);

            return dllz_get_distance_value(CameraID, (uint)posX, (uint)posY);
        }

        /// <summary>
        /// Gets the position of a camera-space pixel relative to the camera frame.
        /// <param name="pixel">The pixel's screen space coordinates as a Vector3.
        /// The Z component is unused - designed to take input from Input.mousePosition.</param>
        /// <param name="xyz">Position relative to the camera.</param>
        /// <returns>True if successful.</returns>
        /// </summary>
        public bool GetXYZValue(Vector3 pixel, out Vector4 xyz)
        {
            if (!cameraReady) //Do nothing if the ZED isn't initialized.
            {
                xyz = Vector3.zero;
                return false;
            }

            float posX = (float)ImageWidth * (float)((float)pixel.x / (float)Screen.width);
            float posY = ImageHeight * (1 - (float)pixel.y / (float)Screen.height);
            posX = Mathf.Clamp(posX, 0, ImageWidth);
            posY = Mathf.Clamp(posY, 0, ImageHeight);
            bool r = dllz_get_xyz_value(CameraID, (uint)posX, (uint)posY, out xyz);
            return r;
        }


        /// <summary>
        /// Gets the normal of a camera-space pixel. The normal is relative to the camera.
        /// Use cam.worldToCameraMatrix.inverse to transform it to world space.
        /// Note that ZEDSupportFunctions contains high-level versions of this function that are easier to use.
        /// <param name="pixel">The pixel's screen space coordinates as a Vector3.
        /// The Z component is unused - designed to take input from Input.mousePosition.</param>
        /// <param name="normal">Normal value of the pixel as a Vector4.</param>
        /// <returns>True if successful.</returns>
        /// </summary>
        public bool GetNormalValue(Vector3 pixel, out Vector4 normal)
        {
            if (!cameraReady) //Do nothing if the ZED isn't initialized.
            {
                normal = Vector3.zero;
                return false;
            }

            float posX = (float)ImageWidth * (float)((float)pixel.x / (float)Screen.width);
            float posY = ImageHeight * (1 - (float)pixel.y / (float)Screen.height);

            posX = Mathf.Clamp(posX, 0, ImageWidth);
            posY = Mathf.Clamp(posY, 0, ImageHeight);

            bool r = dllz_get_normal_value(CameraID, (uint)posX, (uint)posY, out normal);
            return r;
        }

        /// <summary>
        /// Initializes and begins the spatial mapping processes.
        /// </summary>
        /// <param name="resolution_meter">Spatial mapping resolution in meters.</param>
        /// <param name="max_range_meter">Maximum scanning range in meters.</param>
        /// <param name="saveTexture">True to scan surface textures in addition to geometry.</param>
        /// <returns></returns>
        public sl.ERROR_CODE EnableSpatialMapping(SPATIAL_MAP_TYPE type, float resolution_meter, float max_range_meter, bool saveTexture = false)
        {
            sl.ERROR_CODE spatialMappingStatus = ERROR_CODE.FAILURE;
            //lock (grabLock)
            {
                spatialMappingStatus = (sl.ERROR_CODE)dllz_enable_spatial_mapping(CameraID, (int)type,resolution_meter, max_range_meter, System.Convert.ToInt32(saveTexture), 4096);
            }
            return spatialMappingStatus;
        }

        /// <summary>
        /// Disables the Spatial Mapping process.
        /// </summary>
        public void DisableSpatialMapping()
        {
            lock (grabLock)
            {
                dllz_disable_spatial_mapping(CameraID);
            }
        }

        /// <summary>
        /// Updates the internal version of the mesh and returns the sizes of the meshes.
        /// </summary>
        /// <param name="nbVerticesInSubmeshes">Array of the number of vertices in each submesh.</param>
        /// <param name="nbTrianglesInSubmeshes">Array of the number of triangles in each submesh.</param>
        /// <param name="nbSubmeshes">Number of submeshes.</param>
        /// <param name="updatedIndices">List of all submeshes updated since the last update.</param>
        /// <param name="nbVertices">Total number of updated vertices in all submeshes.</param>
        /// <param name="nbTriangles">Total number of updated triangles in all submeshes.</param>
        /// <param name="nbSubmeshMax">Maximum number of submeshes that can be handled.</param>
        /// <returns>Error code indicating if the update was successful, and why it wasn't otherwise.</returns>
        public sl.ERROR_CODE UpdateMesh(int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax)
        {
            sl.ERROR_CODE err = sl.ERROR_CODE.FAILURE;
            err = (sl.ERROR_CODE)dllz_update_mesh(CameraID, nbVerticesInSubmeshes, nbTrianglesInSubmeshes, ref nbSubmeshes, updatedIndices, ref nbVertices, ref nbTriangles, nbSubmeshMax);

            return err;
        }

        /// <summary>
        /// Retrieves all chunks of the generated mesh. Call UpdateMesh() before calling this.
        /// Vertex and triangle arrays must be at least of the sizes returned by UpdateMesh (nbVertices and nbTriangles).
        /// </summary>
        /// <param name="vertices">Vertices of the mesh.</param>
        /// <param name="triangles">Triangles, formatted as the index of each triangle's three vertices in the vertices array.</param>
        /// <param name="nbSubmeshMax">Maximum number of submeshes that can be handled.</param>
        /// <returns>Error code indicating if the retrieval was successful, and why it wasn't otherwise.</returns>
        public sl.ERROR_CODE RetrieveMesh(Vector3[] vertices, int[] triangles, int nbSubmeshMax, Vector2[] uvs, IntPtr textures)
        {
            return (sl.ERROR_CODE)dllz_retrieve_mesh(CameraID, vertices, triangles, nbSubmeshMax, uvs, textures);
        }

        /// <summary>
        /// Updates the fused point cloud (if spatial map type was FUSED_POINT_CLOUD)
        /// </summary>
        /// <returns>Error code indicating if the update was successful, and why it wasn't otherwise.</returns>
        public sl.ERROR_CODE UpdateFusedPointCloud(ref int nbVertices)
        {
            sl.ERROR_CODE err = sl.ERROR_CODE.FAILURE;
            err = (sl.ERROR_CODE)dllz_update_fused_point_cloud(CameraID, ref nbVertices);
            return err;
        }

        /// <summary>
        /// Retrieves all points of the fused point cloud. Call UpdateFusedPointCloud() before calling this.
        /// Vertex arrays must be at least of the sizes returned by UpdateFusedPointCloud
        /// </summary>
        /// <param name="vertices">Points of the fused point cloud.</param>
        /// <returns>Error code indicating if the retrieval was successful, and why it wasn't otherwise.</returns>
        public sl.ERROR_CODE RetrieveFusedPointCloud(Vector4[] vertices)
        {
            return (sl.ERROR_CODE)dllz_retrieve_fused_point_cloud(CameraID, vertices);
        }

        /// <summary>
        /// Starts the mesh generation process in a thread that doesn't block the spatial mapping process.
        /// ZEDSpatialMappingHelper calls this each time it has finished applying the last mesh update.
        /// </summary>
        public void RequestMesh()
        {
            dllz_request_mesh_async(CameraID);
        }

        /// <summary>
        /// Sets the pause state of the data integration mechanism for the ZED's spatial mapping.
        /// </summary>
        /// <param name="status">If true, the integration is paused. If false, the spatial mapping is resumed.</param>
        public void PauseSpatialMapping(bool status)
        {
            dllz_pause_spatial_mapping(CameraID, status);
        }

        /// <summary>
        /// Returns the mesh generation status. Useful for knowing when to update and retrieve the mesh.
        /// </summary>
        public sl.ERROR_CODE GetMeshRequestStatus()
        {
            return (sl.ERROR_CODE)dllz_get_mesh_request_status_async(CameraID);
        }

        /// <summary>
        /// Saves the scanned mesh in a specific file format.
        /// </summary>
        /// <param name="filename">Path and filename of the mesh.</param>
        /// <param name="format">File format (extension). Can be .obj, .ply or .bin.</param>
        public bool SaveMesh(string filename, MESH_FILE_FORMAT format)
        {
            return dllz_save_mesh(CameraID, filename, format);
        }

        /// <summary>
        /// Saves the scanned point cloud in a specific file format.
        /// </summary>
        /// <param name="filename">Path and filename of the point cloud.</param>
        /// <param name="format">File format (extension). Can be .obj, .ply or .bin.</param>
        public bool SavePointCloud(string filename, MESH_FILE_FORMAT format)
        {
            return dllz_save_point_cloud(CameraID, filename, format);
        }

        /// <summary>
        /// Loads a saved mesh file. ZEDSpatialMapping then configures itself as if the loaded mesh was just scanned.
        /// </summary>
        /// <param name="filename">Path and filename of the mesh. Should include the extension (.obj, .ply or .bin).</param>
        /// <param name="nbVerticesInSubmeshes">Array of the number of vertices in each submesh.</param>
        /// <param name="nbTrianglesInSubmeshes">Array of the number of triangles in each submesh.</param>
        /// <param name="nbSubmeshes">Number of submeshes.</param>
        /// <param name="updatedIndices">List of all submeshes updated since the last update.</param>
        /// <param name="nbVertices">Total number of updated vertices in all submeshes.</param>
        /// <param name="nbTriangles">Total number of updated triangles in all submeshes.</param>
        /// <param name="nbSubmeshMax">Maximum number of submeshes that can be handled.</param>
        /// <param name="textureSize">Array containing the sizes of all the textures (width, height) if applicable.</param>
        public bool LoadMesh(string filename, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices,
            ref int nbVertices, ref int nbTriangles, int nbSubmeshMax, int[] textureSize = null)
        {
            return dllz_load_mesh(CameraID, filename, nbVerticesInSubmeshes, nbTrianglesInSubmeshes, ref nbSubmeshes, updatedIndices, ref nbVertices,
                ref nbTriangles, nbSubmeshMax, textureSize);
        }

        /// <summary>
        /// Filters a mesh to remove triangles while still preserving its overall shape (though less accurate).
        /// </summary>
        /// <param name="filterParameters">Filter level. Higher settings remove more triangles.</param>
        /// <param name="nbVerticesInSubmeshes">Array of the number of vertices in each submesh.</param>
        /// <param name="nbTrianglesInSubmeshes">Array of the number of triangles in each submesh.</param>
        /// <param name="nbSubmeshes">Number of submeshes.</param>
        /// <param name="updatedIndices">List of all submeshes updated since the last update.</param>
        /// <param name="nbVertices">Total number of updated vertices in all submeshes.</param>
        /// <param name="nbTriangles">Total number of updated triangles in all submeshes.</param>
        /// <param name="nbSubmeshMax">Maximum number of submeshes that can be handled.</param>
        public bool FilterMesh(FILTER filterParameters, int[] nbVerticesInSubemeshes, int[] nbTrianglesInSubemeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmeshMax)
        {
            return dllz_filter_mesh(CameraID, filterParameters, nbVerticesInSubemeshes, nbTrianglesInSubemeshes, ref nbSubmeshes, updatedIndices, ref nbVertices, ref nbTriangles, nbSubmeshMax);
        }

        /// <summary>
        /// Applies the scanned texture onto the internal scanned mesh.
        /// You will need to call RetrieveMesh() with uvs and textures to get the result into Unity.
        /// </summary>
        /// <param name="nbVerticesInSubmeshes">Array of the number of vertices in each submesh.</param>
        /// <param name="nbTrianglesInSubmeshes">Array of the number of triangles in each submesh.</param>
        /// <param name="nbSubmeshes">Number of submeshes.</param>
        /// <param name="updatedIndices">List of all submeshes updated since the last update.</param>
        /// <param name="nbVertices">Total number of updated vertices in all submeshes.</param>
        /// <param name="nbTriangles">Total number of updated triangles in all submeshes.</param>
        /// <param name="textureSize"> Vector containing the size of all the texture (width, height). </param>
        /// <param name="nbSubmeshMax">Maximum number of submeshes that can be handled.</param>
        /// <returns></returns>
        public bool ApplyTexture(int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int[] textureSize, int nbSubmeshMax)
        {
            return dllz_apply_texture(CameraID, nbVerticesInSubmeshes, nbTrianglesInSubmeshes, ref nbSubmeshes, updatedIndices, ref nbVertices, ref nbTriangles, textureSize, nbSubmeshMax);
        }

        /// <summary>
        /// Gets the current state of spatial mapping.
        /// </summary>
        /// <returns></returns>
        public SPATIAL_MAPPING_STATE GetSpatialMappingState()
        {
            return (sl.SPATIAL_MAPPING_STATE)dllz_get_spatial_mapping_state(CameraID);
        }

        /// <summary>
        /// Gets a vector pointing toward the direction of gravity. This is estimated from a 3D scan of the environment,
        /// and as such, a scan must be started/finished for this value to be calculated.
        /// If using the ZED Mini / ZED2, this isn't required thanks to its IMU.
        /// </summary>
        /// <returns>Vector3 pointing downward.</returns>
        public Vector3 GetGravityEstimate()
        {
            Vector3 v = Vector3.zero;
            dllz_spatial_mapping_get_gravity_estimation(CameraID, ref v);
            return v;
        }

        /// <summary>
        /// Consolidates the chunks from a scan. This is used to turn lots of small meshes (which are efficient for
        /// the scanning process) into several large meshes (which are more convenient to work with).
        /// </summary>
        /// <param name="numberFaces"></param>
        /// <param name="nbVerticesInSubmeshes">Array of the number of vertices in each submesh.</param>
        /// <param name="nbTrianglesInSubmeshes">Array of the number of triangles in each submesh.</param>
        /// <param name="nbSubmeshes">Number of submeshes.</param>
        /// <param name="updatedIndices">List of all submeshes updated since the last update.</param>
        /// <param name="nbVertices">Total number of updated vertices in all submeshes.</param>
        /// <param name="nbTriangles">Total number of updated triangles in all submeshes.</param>
        public void MergeChunks(int numberFaces, int[] nbVerticesInSubmeshes, int[] nbTrianglesInSubmeshes, ref int nbSubmeshes, int[] updatedIndices, ref int nbVertices, ref int nbTriangles, int nbSubmesh)
        {
            dllz_spatial_mapping_merge_chunks(CameraID, numberFaces, nbVerticesInSubmeshes, nbTrianglesInSubmeshes, ref nbSubmeshes, updatedIndices, ref nbVertices, ref nbTriangles, nbSubmesh);
        }

        /// <summary>
        /// Retrieves a measure texture from the ZED SDK and loads it into a ZEDMat. Use this to get an individual
        /// texture from the last grabbed frame with measurements in every pixel - such as a depth map, confidence map, etc.
        /// Measure textures are not human-viewable but don't lose accuracy, unlike image textures.
        /// </summary><remarks>
        /// If you want to access the texture via script, you'll usually want to specify CPU memory. Then you can use
        /// Marshal.Copy to move them into a new byte array, which you can load into a Texture2D.
        /// RetrieveMeasure() calls Camera::retrieveMeasure() in the C++ SDK. For more info, read:
        /// https://www.stereolabs.com/developers/documentation/API/v2.5.1/classsl_1_1Camera.html#af799d12342a7b884242fffdef5588a7f
        /// </remarks>
        /// <param name="mat">ZEDMat to fill with the new texture.</param>
        /// <param name="measure">Measure type (depth, confidence, xyz, etc.)</param>
        /// <param name="mem">Whether the image should be on CPU or GPU memory.</param>
        /// <param name="resolution">Resolution of the texture.</param>
        /// <returns>Error code indicating if the retrieval was successful, and why it wasn't otherwise.</returns>
        public sl.ERROR_CODE RetrieveMeasure(sl.ZEDMat mat, sl.MEASURE measure, sl.ZEDMat.MEM mem = sl.ZEDMat.MEM.MEM_CPU, sl.Resolution resolution = new sl.Resolution())
        {
            return (sl.ERROR_CODE)(dllz_retrieve_measure(CameraID, mat.MatPtr, (int)measure, (int)mem, (int)resolution.width, (int)resolution.height));
        }

        /// <summary>
        /// Retrieves an image texture from the ZED SDK and loads it into a ZEDMat. Use this to get an individual
        /// texture from the last grabbed frame in a human-viewable format. Image textures work for when you want the result to be visible,
        /// such as the direct RGB image from the camera, or a greyscale image of the depth. However it will lose accuracy if used
        /// to show measurements like depth or confidence, unlike measure textures.
        /// </summary><remarks>
        /// If you want to access the texture via script, you'll usually want to specify CPU memory. Then you can use
        /// Marshal.Copy to move them into a new byte array, which you can load into a Texture2D. Note that you may need to
        /// change the color space and/or flip the image.
        /// RetrieveMeasure() calls Camera::retrieveMeasure() in the C++ SDK. For more info, read:
        /// https://www.stereolabs.com/developers/documentation/API/v2.5.1/classsl_1_1Camera.html#ac40f337ccc76cacd3412b93f7f4638e2
        /// </remarks>
        /// <param name="mat">ZEDMat to fill with the new texture.</param>
        /// <param name="view">Image type (left RGB, right depth map, etc.)</param>
        /// <param name="mem">Whether the image should be on CPU or GPU memory.</param>
        /// <param name="resolution">Resolution of the texture.</param>
        /// <returns>Error code indicating if the retrieval was successful, and why it wasn't otherwise.</returns>
        public sl.ERROR_CODE RetrieveImage(sl.ZEDMat mat, sl.VIEW view, sl.ZEDMat.MEM mem = sl.ZEDMat.MEM.MEM_CPU, sl.Resolution resolution = new sl.Resolution())
        {
            return (sl.ERROR_CODE)(dllz_retrieve_image(CameraID, mat.MatPtr, (int)view, (int)mem, (int)resolution.width, (int)resolution.height));
        }

        /// <summary>
        /// Computes offsets of the optical centers used to line up the ZED's images properly with Unity cameras.
        /// Called in ZEDRenderingPlane after the ZED finished initializing.
        /// </summary>
        /// <param name="planeDistance">Distance from a camera in the ZED rig to the quad/Canvas object holding the ZED image.</param>
        /// <returns></returns>
        public Vector4 ComputeOpticalCenterOffsets(float planeDistance)
        {
            IntPtr p = IntPtr.Zero;
            sl.CalibrationParameters calib = GetCalibrationParameters(false);

            Vector4 calibLeft = new Vector4(calib.leftCam.fx, calib.leftCam.fy, calib.leftCam.cx, calib.leftCam.cy);
            Vector4 calibRight = new Vector4(calib.rightCam.fx, calib.rightCam.fy, calib.rightCam.cx, calib.rightCam.cy);

            p = dllz_compute_optical_center_offsets(ref calibLeft, ref calibRight, this.ImageWidth, this.ImageHeight, planeDistance);
            if (p == IntPtr.Zero)
            {
                return new Vector4();
            }
            Vector4 parameters = (Vector4)Marshal.PtrToStructure(p, typeof(Vector4));
            return parameters;
        }

        ////////////////////////
        /// Plane Detection  ///
        ////////////////////////


        /// <summary>
        /// Looks for a plane in the visible area that is likely to represent the floor.
        /// Use ZEDPlaneDetectionManager.DetectFloorPlane for a higher-level version that turns planes into GameObjects.
        /// </summary>
        /// <param name="plane">Data on the detected plane.</param>
        /// <param name="playerHeight">Height of the camera from the newly-detected floor.</param>
        /// <param name="priorQuat">Prior rotation.</param>
        /// <param name="priorTrans">Prior position.</param>
        /// <returns></returns>
        public sl.ERROR_CODE findFloorPlane(ref ZEDPlaneGameObject.PlaneData plane, out float playerHeight, Quaternion priorQuat, Vector3 priorTrans)
        {
            IntPtr p = IntPtr.Zero;
            Quaternion out_quat = Quaternion.identity;
            Vector3 out_trans = Vector3.zero;
            p = dllz_find_floor_plane(CameraID, out out_quat, out out_trans, priorQuat, priorTrans);
            plane.Bounds = new Vector3[256];
            playerHeight = 0;

            if (p != IntPtr.Zero)
            {
                plane = (ZEDPlaneGameObject.PlaneData)Marshal.PtrToStructure(p, typeof(ZEDPlaneGameObject.PlaneData));
                playerHeight = out_trans.y;
                return (sl.ERROR_CODE)plane.ErrorCode;
            }
            else
                return sl.ERROR_CODE.FAILURE;
        }
        /// <summary>
        /// Using data from a detected floor plane, updates supplied vertex and triangle arrays with
        /// data needed to make a mesh that represents it. These arrays are updated directly from the wrapper.
        /// </summary>
        /// <param name="vertices">Array to be filled with mesh vertices.</param>
        /// <param name="triangles">Array to be filled with mesh triangles, stored as indexes of each triangle's points.</param>
        /// <param name="numVertices">Total vertices in the mesh.</param>
        /// <param name="numTriangles">Total triangle indexes (3x number of triangles).</param>
        /// <returns></returns>
        public int convertFloorPlaneToMesh(Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)
        {
            return dllz_convert_floorplane_to_mesh(CameraID, vertices, triangles, out numVertices, out numTriangles);
        }

        /// <summary>
        /// Checks for a plane in the real world at given screen-space coordinates.
        /// Use ZEDPlaneDetectionManager.DetectPlaneAtHit() for a higher-level version that turns planes into GameObjects.
        /// </summary>
        /// <param name="plane">Data on the detected plane.</param>
        /// <param name="screenPos">Point on the ZED image to check for a plane.</param>
        /// <returns></returns>
        public sl.ERROR_CODE findPlaneAtHit(ref ZEDPlaneGameObject.PlaneData plane, Vector2 screenPos)
        {
            IntPtr p = IntPtr.Zero;
            Quaternion out_quat = Quaternion.identity;
            Vector3 out_trans = Vector3.zero;

            float posX = (float)ImageWidth * (float)((float)screenPos.x / (float)Screen.width);
            float posY = ImageHeight * (1 - (float)screenPos.y / (float)Screen.height);
            posX = Mathf.Clamp(posX, 0, ImageWidth);
            posY = Mathf.Clamp(posY, 0, ImageHeight);

            p = dllz_find_plane_at_hit(CameraID, new Vector2(posX, posY), true);
            plane.Bounds = new Vector3[256];

            if (p != IntPtr.Zero)
            {
                plane = (ZEDPlaneGameObject.PlaneData)Marshal.PtrToStructure(p, typeof(ZEDPlaneGameObject.PlaneData));
                return (sl.ERROR_CODE)plane.ErrorCode;
            }
            else
                return sl.ERROR_CODE.FAILURE;
        }

        /// <summary>
        /// Using data from a detected hit plane, updates supplied vertex and triangle arrays with
        /// data needed to make a mesh that represents it. These arrays are updated directly from the wrapper.
        /// </summary>
        /// <param name="vertices">Array to be filled with mesh vertices.</param>
        /// <param name="triangles">Array to be filled with mesh triangles, stored as indexes of each triangle's points.</param>
        /// <param name="numVertices">Total vertices in the mesh.</param>
        /// <param name="numTriangles">Total triangle indexes (3x number of triangles).</param>
        /// <returns></returns>
        public int convertHitPlaneToMesh(Vector3[] vertices, int[] triangles, out int numVertices, out int numTriangles)
        {
            return dllz_convert_hitplane_to_mesh(CameraID, vertices, triangles, out numVertices, out numTriangles);
        }


        ////////////////////////
        /// Streaming Module ///
        ////////////////////////

        /// <summary>
        /// Creates an streaming pipeline.
        /// </summary>
        /// <params>
        /// Streaming parameters: See sl::StreamingParameters of ZED SDK. See ZED SDK API doc for more informations
        /// </params>
        /// <returns>An ERROR_CODE that defines if the streaming pipe was successfully created</returns>
        public ERROR_CODE EnableStreaming(STREAMING_CODEC codec = STREAMING_CODEC.AVCHD_BASED, uint bitrate = 8000, ushort port = 30000, int gopSize = -1, bool adaptativeBitrate = false,int chunk_size = 8096,int target_fps = 0)
        {
            int doAdaptBitrate = adaptativeBitrate ? 1 : 0;
            return (ERROR_CODE)dllz_enable_streaming(CameraID, codec, bitrate, port, gopSize, doAdaptBitrate, chunk_size,target_fps);
        }

        /// <summary>
        /// Tells if streaming is running or not.
        /// </summary>
        /// <returns> false if streaming is not enabled, true if streaming is on</returns>
        public bool IsStreamingEnabled()
        {
            int res = dllz_is_streaming_enabled(CameraID);
            if (res == 1)
                return true;
            else
                return false;
        }

        /// <summary>
        /// Stops the streaming pipeline.
        /// </summary>
        public void DisableStreaming()
        {
            dllz_disable_streaming(CameraID);
        }


        ////////////////////////
        /// Save utils fct   ///
        ////////////////////////

        /// <summary>
        /// Save current image (specified by view) in a file defined by filename
        /// Supported formats are jpeg and png. Filename must end with either .jpg or .png
        /// </summary>
        public sl.ERROR_CODE SaveCurrentImageInFile(sl.VIEW view, String filename)
        {
            sl.ERROR_CODE err = (sl.ERROR_CODE)dllz_save_current_image(CameraID, view, filename);
            return err;
        }

        /// <summary>
        /// Save the current depth in a file defined by filename.
        /// Supported formats are PNG,PFM and PGM
        /// </summary>
        /// <param name="side"> defines left (0) or right (1) depth</param>
        /// <param name="filename"> filename must end with .png, .pfm or .pgm</param>
        /// <returns></returns>
        public sl.ERROR_CODE SaveCurrentDepthInFile(int side, String filename)
        {
            sl.ERROR_CODE err = (sl.ERROR_CODE)dllz_save_current_depth(CameraID, side, filename);
            return err;
        }

        /// <summary>
        /// Save the current point cloud in a file defined by filename.
        /// Supported formats are PLY,VTK,XYZ and PCD
        /// </summary>
        /// <param name="side">defines left (0) or right (1) point cloud</param>
        /// <param name="filename"> filename must end with .ply, .xyz , .vtk or .pcd </param>
        /// <returns></returns>
        public sl.ERROR_CODE SaveCurrentPointCloudInFile(int side, String filename)
        {
            sl.ERROR_CODE err = (sl.ERROR_CODE)dllz_save_current_point_cloud(CameraID, side, filename);
            return err;
        }

        ////////////////////////
        /// Object detection ///
        ////////////////////////
        public static sl.AI_MODELS cvtDetection(sl.DETECTION_MODEL m_in)
        {
            sl.AI_MODELS m_out = sl.AI_MODELS.LAST;
            switch (m_in)
            {
                case sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE: m_out = sl.AI_MODELS.HUMAN_BODY_ACCURATE_DETECTION; break;
                case sl.DETECTION_MODEL.HUMAN_BODY_MEDIUM: m_out = sl.AI_MODELS.HUMAN_BODY_MEDIUM_DETECTION; break;
                case sl.DETECTION_MODEL.HUMAN_BODY_FAST: m_out = sl.AI_MODELS.HUMAN_BODY_FAST_DETECTION; break;
                case sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE: m_out = sl.AI_MODELS.MULTI_CLASS_ACCURATE_DETECTION; break;
                case sl.DETECTION_MODEL.MULTI_CLASS_BOX_MEDIUM: m_out = sl.AI_MODELS.MULTI_CLASS_MEDIUM_DETECTION; break;
                case sl.DETECTION_MODEL.MULTI_CLASS_BOX: m_out = sl.AI_MODELS.MULTI_CLASS_DETECTION; break;
                case sl.DETECTION_MODEL.PERSON_HEAD_BOX: m_out = sl.AI_MODELS.PERSON_HEAD_DETECTION; break;
            }
            return m_out;
        }

        public static sl.DETECTION_MODEL cvtDetection(sl.AI_MODELS m_in)
        {
            sl.DETECTION_MODEL m_out = sl.DETECTION_MODEL.LAST;
            switch (m_in)
            {
                case sl.AI_MODELS.HUMAN_BODY_ACCURATE_DETECTION: m_out = sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE; break;
                case sl.AI_MODELS.HUMAN_BODY_MEDIUM_DETECTION: m_out = sl.DETECTION_MODEL.HUMAN_BODY_MEDIUM; break;
                case sl.AI_MODELS.HUMAN_BODY_FAST_DETECTION: m_out = sl.DETECTION_MODEL.HUMAN_BODY_FAST; break;
                case sl.AI_MODELS.MULTI_CLASS_ACCURATE_DETECTION: m_out = sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE; break;
                case sl.AI_MODELS.MULTI_CLASS_MEDIUM_DETECTION: m_out = sl.DETECTION_MODEL.MULTI_CLASS_BOX_MEDIUM; break;
                case sl.AI_MODELS.MULTI_CLASS_DETECTION: m_out = sl.DETECTION_MODEL.MULTI_CLASS_BOX; break;
                case sl.AI_MODELS.PERSON_HEAD_DETECTION: m_out = sl.DETECTION_MODEL.PERSON_HEAD_BOX; break;
            }
            return m_out;
        }

        /// <summary>
        /// Check if a corresponding optimized engine is found for the requested Model based on your rig configuration.
        /// </summary>
        /// <param name="model"> AI model to check.</param>
        /// <param name="gpu_id">ID of the gpu.</param>
        /// <returns></returns>
        public static AI_Model_status CheckAIModelStatus(AI_MODELS model, int gpu_id = 0)
        {
            IntPtr p = dllz_check_AI_model_status(model, gpu_id);
            if (p == IntPtr.Zero)
            {
                return new AI_Model_status();
            }
            AI_Model_status status = (AI_Model_status)Marshal.PtrToStructure(p, typeof(AI_Model_status));

            return status;
        }

        /// <summary>
        /// Optimize the requested model, possible download if the model is not present on the host.
        /// </summary>
        /// <param name="model">AI model to optimize.</param>
        /// <param name="gpu_id">ID of the gpu to optimize on.</param>
        /// <returns></returns>
        public static sl.ERROR_CODE OptimizeAIModel(AI_MODELS model, int gpu_id = 0)
        {
            return (sl.ERROR_CODE)dllz_optimize_AI_model(model, gpu_id);
        }

        /// <summary>
        /// Enable object detection module
        /// </summary>
        public sl.ERROR_CODE EnableObjectsDetection(ref dll_ObjectDetectionParameters od_params)
        {
            sl.ERROR_CODE objDetectStatus = ERROR_CODE.FAILURE;
            lock (grabLock)
            {
                objDetectStatus = (sl.ERROR_CODE)dllz_enable_objects_detection(CameraID, ref od_params);
            }

            return objDetectStatus;
        }

        /// <summary>
        /// Disable object detection module and release the resources.
        /// </summary>
        public void DisableObjectsDetection()
        {
            lock (grabLock)
            {
                dllz_disable_objects_detection(CameraID);
            }
        }

        /// <summary>
        /// Pause or Unpause the object detection
        /// </summary>
        /// <param name="status"></param>
        public void PauseObjectsDetection(bool status)
        {
            lock (grabLock)
            {
                dllz_pause_objects_detection(CameraID, status);
            }
        }

        public sl.ERROR_CODE IngestCustomBoxObjects(List<CustomBoxObjectData> objects_in)
        {
            return (sl.ERROR_CODE)dllz_ingest_custom_box_objects(CameraID, objects_in.Count, objects_in.ToArray());
        }


        /// <summary>
        /// Retrieve object detection data
        /// </summary>
        /// <param name="od_params"> Object detection runtime parameters</param>
        /// <param name="objFrame"> ObjectsFrameSDK that contains all the detection data</param>
        /// <returns></returns>
        public sl.ERROR_CODE RetrieveObjectsDetectionData(ref dll_ObjectDetectionRuntimeParameters od_params, ref ObjectsFrameSDK objFrame)
        {
            return (sl.ERROR_CODE)dllz_retrieve_objects_data(CameraID, ref od_params, ref objFrame);
        }

        /// <summary>
        /// Update the batch trajectories and retrieve the number of batches.
        /// </summary>
        /// <param name="nbBatches"> numbers of batches
        /// <returns> returns an ERROR_CODE that indicates the type of error </returns>
        public sl.ERROR_CODE UpdateObjectsBatch(out int nbBatches)
        {
            return (sl.ERROR_CODE)dllz_update_objects_batch(CameraID, out nbBatches);
        }

        /// <summary>
        /// Retrieve a batch of objects.
        /// This function need to be called after RetrieveObjects, otherwise trajectories will be empty.
        /// If also needs to be called after UpdateOBjectsBatch in order to retrieve the number of batch trajectories.
        /// </summary>
        /// <remarks> To retrieve all the objectsbatches, you need to iterate from 0 to nbBatches (retrieved from UpdateObjectBatches) </remarks>
        /// <param name="batch_index"> index of the batch retrieved.
        /// <param name="objectsBatch"> trajectory that will be filled by the batching queue process</param>
        /// <returns> returns an ERROR_CODE that indicates the type of error </returns>
        public sl.ERROR_CODE GetObjectsBatch(int batch_index, ref ObjectsBatch objectsBatch)
        {
            return (sl.ERROR_CODE)dllz_get_objects_batch_data(CameraID, batch_index, ref objectsBatch.numData, ref objectsBatch.id, ref objectsBatch.label, ref objectsBatch.sublabel,
                ref objectsBatch.trackingState, objectsBatch.positions, objectsBatch.positionCovariances, objectsBatch.velocities, objectsBatch.timestamps, objectsBatch.boundingBoxes2D,
                objectsBatch.boundingBoxes, objectsBatch.confidences, objectsBatch.actionStates, objectsBatch.keypoints2D, objectsBatch.keypoints, objectsBatch.headBoundingBoxes2D,
                objectsBatch.headBoundingBoxes, objectsBatch.headPositions, objectsBatch.keypointConfidences);
        }

    }//Zed Camera class
} // namespace sl
