Add AprilTagsWithSLAM example scene

README.md

@@ -30,6 +30,7 @@ See [Luxonis documentation](https://docs.luxonis.com/hardware/platform/deploy/us
     * **[MappingVisu](https://github.com/SpectacularAI/unity-wrapper/tree/main/unity-examples/Assets/SpectacularAI/Examples/MappingVisu)** SLAM example. Build and visualize 3D point cloud of the environment in real-time using OAK-D device.
     * **[Record](https://github.com/SpectacularAI/unity-wrapper/tree/main/unity-examples/Assets/SpectacularAI/Examples/Record)** Recording tool. Enables recording datasets with OAK-D device for Replay API. Note: requires FFmpeg https://spectacularai.github.io/docs/sdk/index.html#ffmpeg.
     * **[AprilTag](https://github.com/SpectacularAI/unity-wrapper/tree/main/unity-examples/Assets/SpectacularAI/Examples/AprilTag)** April Tag integration example. Place April Tags using Unity Editor. The April Tags are then input to the SDK enabling absolute positioning.
+    * **[AprilTagWithSLAM](https://github.com/SpectacularAI/unity-wrapper/tree/main/unity-examples/Assets/SpectacularAI/Examples/AprilTag/README.md)** Example showing how to use an April Tag to align SLAM relocalization with a digital twin of the environment.
     * **[HelloReplay](https://github.com/SpectacularAI/unity-wrapper/tree/main/unity-examples/Assets/SpectacularAI/Examples/HelloReplay)** Minimal Replay API example. Shows how to use the Replay API in Unity to replay your recordings.
 
 ### Quick links

plugin/README.md

@@ -7,7 +7,7 @@ The `spectacularAI_depthaiPlugin` package is required. For non-commercial purpos
 ## Building (Windows)
 ```
 mkdir target && cd target
-cmake -Ddepthai_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0\Windows\lib\cmake\depthai -DspectacularAI_depthaiPlugin_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0\Windows\lib\cmake\spectacularAI ..
+cmake -Ddepthai_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0\Windows\lib\cmake\depthai -DspectacularAI_depthaiPlugin_DIR=path\to\spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0\Windows\lib\cmake\spectacularAI ..
 cmake --build . --config Release
 ```
 
@@ -16,7 +16,7 @@ Replace the existing `spectacularAI_unity.dll` [here](https://github.com/Spectac
 ## Building (Linux)
 ```
 mkdir target && cd target
-cmake -Ddepthai_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0/Linux_Ubuntu_x86-64/lib/cmake/depthai -DspectacularAI_depthaiPlugin_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.36.0/Linux_Ubuntu_x86-64/lib/cmake/spectacularAI ..
+cmake -Ddepthai_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0/Linux_Ubuntu_x86-64/lib/cmake/depthai -DspectacularAI_depthaiPlugin_DIR=path/to/spectacularAI_depthaiPlugin_cpp_non-commercial_1.39.0/Linux_Ubuntu_x86-64/lib/cmake/spectacularAI ..
 make
 ```
 Replace the existing `libspectacularAI_unity.so` [here](https://github.com/SpectacularAI/unity-wrapper/tree/main/unity-examples/Assets/SpectacularAI/Plugins/Linux_Ubuntu_x86-64).

unity-examples/Assets/DefaultVolumeProfile.asset

@@ -0,0 +1,15 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &11400000
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: d7fd9488000d3734a9e00ee676215985, type: 3}
+  m_Name: DefaultVolumeProfile
+  m_EditorClassIdentifier: 
+  components: []

unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/0.mat

@@ -12,7 +12,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  version: 7
+  version: 9
 --- !u!21 &2100000
 Material:
   serializedVersion: 8
@@ -32,7 +32,8 @@ Material:
   m_CustomRenderQueue: -1
   stringTagMap:
     RenderType: Opaque
-  disabledShaderPasses: []
+  disabledShaderPasses:
+  - MOTIONVECTORS
   m_LockedProperties: 
   m_SavedProperties:
     serializedVersion: 3
@@ -95,6 +96,7 @@ Material:
         m_Offset: {x: 0, y: 0}
     m_Ints: []
     m_Floats:
+    - _AddPrecomputedVelocity: 0
     - _AlphaClip: 0
     - _AlphaToMask: 0
     - _Blend: 0
@@ -131,3 +133,4 @@ Material:
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
   m_BuildTextureStacks: []
+  m_AllowLocking: 1

unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/1.mat

@@ -12,7 +12,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  version: 7
+  version: 9
 --- !u!21 &2100000
 Material:
   serializedVersion: 8
@@ -32,7 +32,8 @@ Material:
   m_CustomRenderQueue: -1
   stringTagMap:
     RenderType: Opaque
-  disabledShaderPasses: []
+  disabledShaderPasses:
+  - MOTIONVECTORS
   m_LockedProperties: 
   m_SavedProperties:
     serializedVersion: 3
@@ -95,6 +96,7 @@ Material:
         m_Offset: {x: 0, y: 0}
     m_Ints: []
     m_Floats:
+    - _AddPrecomputedVelocity: 0
     - _AlphaClip: 0
     - _AlphaToMask: 0
     - _Blend: 0
@@ -131,3 +133,4 @@ Material:
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
   m_BuildTextureStacks: []
+  m_AllowLocking: 1

unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/2.mat

@@ -12,7 +12,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  version: 7
+  version: 9
 --- !u!21 &2100000
 Material:
   serializedVersion: 8
@@ -32,7 +32,8 @@ Material:
   m_CustomRenderQueue: -1
   stringTagMap:
     RenderType: Opaque
-  disabledShaderPasses: []
+  disabledShaderPasses:
+  - MOTIONVECTORS
   m_LockedProperties: 
   m_SavedProperties:
     serializedVersion: 3
@@ -95,6 +96,7 @@ Material:
         m_Offset: {x: 0, y: 0}
     m_Ints: []
     m_Floats:
+    - _AddPrecomputedVelocity: 0
     - _AlphaClip: 0
     - _AlphaToMask: 0
     - _Blend: 0
@@ -131,3 +133,4 @@ Material:
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
   m_BuildTextureStacks: []
+  m_AllowLocking: 1

unity-examples/Assets/SpectacularAI/Examples/AprilTag/Images/TagStandard41h12/Materials/3.mat

@@ -19,7 +19,8 @@ Material:
   m_CustomRenderQueue: -1
   stringTagMap:
     RenderType: Opaque
-  disabledShaderPasses: []
+  disabledShaderPasses:
+  - MOTIONVECTORS
   m_LockedProperties: 
   m_SavedProperties:
     serializedVersion: 3
@@ -82,6 +83,7 @@ Material:
         m_Offset: {x: 0, y: 0}
     m_Ints: []
     m_Floats:
+    - _AddPrecomputedVelocity: 0
     - _AlphaClip: 0
     - _AlphaToMask: 0
     - _Blend: 0
@@ -118,6 +120,7 @@ Material:
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
   m_BuildTextureStacks: []
+  m_AllowLocking: 1
 --- !u!114 &6502494160241269930
 MonoBehaviour:
   m_ObjectHideFlags: 11
@@ -130,4 +133,4 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: d0353a89b1f911e48b9e16bdc9f2e058, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  version: 7
+  version: 9

unity-examples/Assets/SpectacularAI/Examples/AprilTag/Models/fubilab.mtl

@@ -0,0 +1,12 @@
+# Blender 4.4.0 MTL File: 'lab_11jul_decimated.blend'
+# www.blender.org
+
+newmtl texture_1
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd lab_11jul.png