fix 4.2 support

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

@@ -2949,6 +2949,18 @@ struct STEREOLABS_API FSlObjectDetectionParameters
 	UPROPERTY(EditAnywhere, BlueprintReadWrite)
 	ESlObjectDetectionModel DetectionModel;
 
+	/* In a multi camera setup, specify which group this model belongs to. */
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	FString FusionObjectsGroupName;
+
+	/*  Path to the YOLO-like onnx file for custom object detection ran in the ZED SDK. */
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	FString CustomOnnxFile;
+
+	/*  Resolution to the YOLO-like onnx file for custom object detection ran in the ZED SDK. This resolution defines the input tensor size for dynamic shape ONNX model only. 
+	The batch and channel dimensions are automatically handled, it assumes it's color images like default YOLO models. */
+	FIntPoint CustomOnnxDynamicInputShape;
+
 	/* Defines a upper depth range for detections. */
 	UPROPERTY(EditAnywhere, BlueprintReadWrite)
 	float MaxRange;
@@ -2982,6 +2994,9 @@ struct STEREOLABS_API FSlObjectDetectionParameters
 		bEnableTracking(true),
 		bEnableSegmentation(false),
 		DetectionModel(ESlObjectDetectionModel::ODM_MultiClassBoxFast),
+		FusionObjectsGroupName(""),
+		CustomOnnxFile(""),
+		CustomOnnxDynamicInputShape(FIntPoint(512, 512)),
 		MaxRange(-1.0f),
 		BatchParameters(FSlBatchParameters()),
 		FilteringMode(ESlObjectFilteringMode::OFM_NMS3D),

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

@@ -2157,6 +2157,13 @@ namespace sl
 			ODParameters.enable_segmentation = UnrealData.bEnableSegmentation;
 			ODParameters.max_range = UnrealData.MaxRange;
 			ODParameters.detection_model = (SL_OBJECT_DETECTION_MODEL)UnrealData.DetectionModel;
+			ODParameters.custom_onnx_file = TCHAR_TO_UTF8(*UnrealData.CustomOnnxFile);
+			ODParameters.fused_objects_group_name = TCHAR_TO_UTF8(*UnrealData.FusionObjectsGroupName);
+
+			struct SL_Resolution res;
+			res.width = UnrealData.CustomOnnxDynamicInputShape.X;
+			res.height = UnrealData.CustomOnnxDynamicInputShape.Y;
+			ODParameters.custom_onnx_dynamic_input_shape = res;
 
 			SL_BatchParameters batchParameters;
 			batchParameters.enable = UnrealData.BatchParameters.bEnable;

Plugins/Stereolabs/Source/Stereolabs/Stereolabs.Build.cs

@@ -102,7 +102,7 @@ public void LoadZEDSDK(ReadOnlyTargetRules Target, string DirPath)
             // Check SDK version
             string DefinesHeaderFilePath = Path.Combine(DirPath, "include\\sl\\Camera.hpp");
             string Major = "4";
-            string Minor = "1";
+            string Minor = "2";
             //string Patch = "0";
 
             // Find SDK major and minor version and compare