/// <summary>
/// Gets a Texture2D version of the 2D mask that displays which pixels within the bounding box a detected object occupies.
/// Texture is the size of the 2D bounding box and meant to be overlayed on top of it.
/// </summary>
/// <param name="masktex">Texture2D output - set this to the Texture2D object you want to be the mask.</param>
/// <param name="fliponYaxis">True to flip the image on the Y axis, since it comes from the ZED upside-down relative to Unity coords.\r\n
/// Note: It is faster to invert the Y UV value in the shader that displays it, since the bytes must be flipped in a for loop otherwise. </param>
/// <returns>True if texture was successfully retrieved; false otherwise.</returns>
public bool GetMaskTexture(out Texture2D masktex, bool fliponYaxis)
{
if (!fliponYaxis)
{
if (maskTexture == null)
{
IntPtr maskpointer = maskMat.GetPtr(sl.ZEDMat.MEM.MEM_CPU);
if (maskpointer != IntPtr.Zero)
{
maskTexture = ZEDMatToTexture_CPU(maskMat, false);
}
}
}
else
{
if (maskTextureFlipped == null)
{
IntPtr maskpointer = maskMat.GetPtr(sl.ZEDMat.MEM.MEM_CPU);
if (maskpointer != IntPtr.Zero)
{
maskTextureFlipped = ZEDMatToTexture_CPU(maskMat, true);
}
}
}
masktex = fliponYaxis ? maskTextureFlipped : maskTexture;
return(masktex != null);
}
/// <summary>
/// Converts the given zedMat to an Alpha8 (8-bit single channel) texture.
/// Assumes you are giving it the ZEDMat from an Object Detection mask, and is therefore 8-bit single channel.
/// </summary>
private static Texture2D ZEDMatToTexture_CPU(sl.ZEDMat zedmat, bool flipYcoords = false)
{
int width = zedmat.GetWidth(); //Shorthand.
int height = zedmat.GetHeight();
IntPtr maskpointer = zedmat.GetPtr(sl.ZEDMat.MEM.MEM_CPU);
if (maskpointer != IntPtr.Zero && zedmat.IsInit())
{
byte[] texbytes = new byte[zedmat.GetStepBytes() * height];
System.Runtime.InteropServices.Marshal.Copy(zedmat.GetPtr(sl.ZEDMat.MEM.MEM_CPU), texbytes, 0, texbytes.Length);
if (flipYcoords)
{
byte[] flippedbytes = new byte[texbytes.Length];
int steplength = zedmat.GetWidthBytes();
for (int i = 0; i < texbytes.Length; i += steplength)
{
Array.Copy(texbytes, i, flippedbytes, flippedbytes.Length - i - steplength, steplength);
}
texbytes = flippedbytes;
}
Texture2D zedtex = new Texture2D(width, height, TextureFormat.Alpha8, false, false);
zedtex.anisoLevel = 0;
zedtex.LoadRawTextureData(texbytes);
zedtex.Apply(); //Slight bottleneck here - it forces the CPU and GPU to sync.
return(zedtex);
}
else
{
Debug.LogError("Pointer to texture was null - returning null.");
return(null);
}
}
