Merge pull request #24 from stereolabs/v4.2.0

push to 4.2.0

Author: Bvallon-sl

README.md

@@ -14,7 +14,7 @@ This package lets you use the ZED stereo camera in C#. The C# API is a wrapper a
 - Visual Studio 2017 with C# extensions
 - Cmake 3.23 at least
 - [C wrapper](https://github.com/stereolabs/zed-c-api) of the ZED SDK
-- [ZED SDK **4.1.0**](https://www.stereolabs.com/developers/release/) and its dependency ([CUDA](https://developer.nvidia.com/cuda-downloads))
+- [ZED SDK **4.2.0**](https://www.stereolabs.com/developers/release/) and its dependency ([CUDA](https://developer.nvidia.com/cuda-downloads))
 
 ## From NuGet
 

Stereolabs.zed/CMakeLists.txt

@@ -17,7 +17,7 @@ target_compile_options(${PROJECT_NAME} PRIVATE "/platform:x64" )
 set_property(TARGET ${PROJECT_NAME} PROPERTY VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1")
 
 # Set the C# language version, otherwise default 3.0 is taken
-set(CMAKE_CSharp_FLAGS "/langversion:7")
+set(CMAKE_CSharp_FLAGS "/langversion:10")
 
 
 # Set configuration type as Class Library

Stereolabs.zed/src/ZEDCamera.cs

@@ -1045,7 +1045,7 @@ public void Close()
         /// The grabbing method is typically called in the main loop in a separate thread.
         /// \note For more info, read about the SDK method it calls:
         /// <a href="https://www.stereolabs.com/docs/api/classsl_1_1Camera.html#afa3678a18dd574e162977e97d7cbf67b">grab</a>.
-        /// </remarks>
+        /// </summary>
         /// <param name="runtimeParameters">A structure containing all the runtime parameters. Default: a preset of RuntimeParameters.</param>
         /// <returns>false if no problem was encountered, true otherwise.</returns>
         public sl.ERROR_CODE Grab(ref sl.RuntimeParameters runtimeParameters)
@@ -3097,14 +3097,14 @@ public sl.ERROR_CODE RetrieveObjects(ref Objects objs, ref ObjectDetectionRuntim
         /// <param name="bt_params"> Body tracking runtime parameters </param>
         /// <param name="instanceID">Id of the body tracking instance. Used when multiple instances of the body tracking module are enabled at the same time.</param>
         /// <returns>sl.ERROR_CODE.SUCCESS if everything went fine, sl.ERROR_CODE.FAILURE otherwise.</returns>
-        public sl.ERROR_CODE RetrieveBodies(ref Bodies objs, ref BodyTrackingRuntimeParameters bt_params, uint instanceID = 0)
+        public sl.ERROR_CODE RetrieveBodies(ref Bodies bodies, ref BodyTrackingRuntimeParameters bt_params, uint instanceID = 0)
         {
             IntPtr p = Marshal.AllocHGlobal(System.Runtime.InteropServices.Marshal.SizeOf<sl.Bodies>());
             sl.ERROR_CODE err = (sl.ERROR_CODE)dllz_retrieve_bodies_data(CameraID, ref bt_params, p, instanceID);
 
             if (p != IntPtr.Zero)
             {
-                objs = (sl.Bodies)Marshal.PtrToStructure(p, typeof(sl.Bodies));
+                bodies = (sl.Bodies)Marshal.PtrToStructure(p, typeof(sl.Bodies));
                 Marshal.FreeHGlobal(p);
                 return err;
             }