/// <summary>
/// Creates an OpenCV version of a ZEDMat.
/// In this sample, we only ever use 8U_C1 (for grayscale image) but you can call it yourself
/// for any ZEDMat type and get a properly-formatted OpenCV Mat.
/// </summary>
/// <param name="zedmat">Source ZEDMat.</param>
/// <param name="zedmattype">Type of ZEDMat - data type and channel number. Depends on the type of image
/// it represents. See summaries of each enum value to choose the type, as you can't currently
/// retrieve the material type from an instantiated ZEDMat.</param>
/// <returns>OpenCV Mat formatted correctly so that you can copy data from the source ZEDMat into it.</returns>
private static Mat SLMat2CVMat(sl.ZEDMat zedmat, ZEDMat.MAT_TYPE zedmattype)
{
int cvmattype = SLMatType2CVMatType(zedmattype);
Mat cvmat = new Mat(zedmat.GetHeight(), zedmat.GetWidth(), cvmattype);
return(cvmat);
}
/// <summary>
/// Constructor that assigns values required for transformations later on.
/// This is necessary because detections are frozen in a particular frame, and results should not change
/// in subsequent frames when the camera moves.
/// </summary>
/// <param name="odata">Raw sl.ObjectData data that this instance represents.</param>
/// <param name="viewingmanager">ZEDManager assigned to the ZED camera that detected the object.</param>
/// <param name="campos">World position of the left ZED camera when the object was detected.</param>
/// <param name="camrot">World rotation of the left ZED camera when the object was detected.</param>
public DetectedObject(ObjectDataSDK odata, ZEDManager viewingmanager, Vector3 campos, Quaternion camrot)
{
objectData = odata;
detectingZEDManager = viewingmanager;
camPositionAtDetection = campos;
camRotationAtDetection = camrot;
maskMat = new ZEDMat(odata.mask);
//maskTexture = ZEDMatToTexture_CPU(maskMat);
}
/// <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);
}
}
/// <summary>
/// Duplicates a Mat by copying all its data into a new one (deep copy).
/// </summary>
/// <param name="source"></param>
public void Clone(ZEDMat source)
{
dllz_mat_clone(_matInternalPtr, source._matInternalPtr);
}
/// <summary>
/// Copies data from another Mat into this one(deep copy).
/// </summary>
/// <param name="src">Source Mat from which to copy.</param>
/// <param name="copyType">The To and From memory types.</param>
/// <returns>ERROR_CODE (as an int) indicating if the copy was successful, or why it wasn't.</returns>
public int SetFrom(ZEDMat src, COPY_TYPE copyType = COPY_TYPE.COPY_TYPE_CPU_CPU)
{
return(dllz_mat_set_from(_matInternalPtr, src._matInternalPtr, (int)copyType));
}
