void CheckTexture()
{
if (!Distorted || !Fisheye) // No-distortion and non-fisheye distortion use Camera.Render().
{
// if this is not first time
if (renderTarget != null)
{
if (!renderTarget.IsValid(RenderTextureWidth, RenderTextureHeight))
{
// if camera capture size has changed or we have lost rendertexture due to Unity window resizing or otherwise
renderTarget.Release();
renderTarget = null;
}
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight, GraphicsFormat.R8G8B8A8_SRGB);
SensorCamera.targetTexture = renderTarget;
}
}
else
{
CheckCubemapTexture();
}
if (Distorted)
{
// if this is not first time
if (DistortedTexture != null)
{
if (SizeChanged)
{
// if camera capture size has changed
DistortedTexture.Release();
DistortedTexture = null;
}
else if (!DistortedTexture.IsCreated())
{
// if we have lost DistortedTexture due to Unity window resizing or otherwise
DistortedTexture.Release();
DistortedTexture = null;
}
}
if (DistortedTexture == null)
{
DistortedTexture = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, CameraTargetTextureReadWriteType)
{
dimension = TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear,
enableRandomWrite = true,
};
DistortedTexture.Create();
}
}
}
bool BeginReadRequest(int count, ref ReadRequest req)
{
if (count == 0)
{
return(false);
}
BeginReadMarker.Begin();
SensorRenderTarget renderTarget = null;
if (AvailableRenderTextures.Count != 0)
{
renderTarget = AvailableRenderTextures.Pop();
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight);
}
else if (!renderTarget.IsValid(RenderTextureWidth, RenderTextureHeight))
{
renderTarget.Release();
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight);
}
activeTarget = renderTarget;
SensorCamera.targetTexture = renderTarget;
SensorCamera.Render();
req = new ReadRequest()
{
TextureSet = renderTarget,
Index = CurrentIndex,
Count = count,
Origin = SensorCamera.transform.position,
CameraToWorldMatrix = SensorCamera.cameraToWorldMatrix,
};
if (!Compensated)
{
req.Transform = transform.worldToLocalMatrix;
}
BeginReadMarker.End();
CurrentIndex = (CurrentIndex + count) % CurrentMeasurementsPerRotation;
return(true);
}
private void CheckTexture()
{
if (renderTarget != null && (!renderTarget.IsCube || !renderTarget.IsValid(CubemapSize, CubemapSize)))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.CreateCube(CubemapSize, CubemapSize, faceMask);
SensorCamera.targetTexture = null;
}
}
void CheckTexture()
{
// if this is not first time
if (renderTarget != null)
{
if (!renderTarget.IsValid(Width, Height))
{
// if camera capture size has changed or we have lost rendertexture due to Unity window resizing or otherwise
renderTarget.Release();
renderTarget = null;
}
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(Width, Height);
SensorCamera.targetTexture = renderTarget;
}
}
void CheckTexture()
{
var targetWidth = -1;
var targetHeight = -1;
if (Distorted)
{
// Distorted + fisheye - render to cubemap, then distort to sensor-sized texture
if (Fisheye)
{
if (renderTarget != null && (!renderTarget.IsCube || !renderTarget.IsValid(CubemapSize, CubemapSize)))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.CreateCube(CubemapSize, CubemapSize, faceMask);
SensorCamera.targetTexture = null;
}
}
// Distorted - render to larger texture, then distort to sensor-sized one
else
{
targetWidth = LensDistortion.ActualWidth;
targetHeight = LensDistortion.ActualHeight;
}
if (DistortedHandle != null && !DistortedHandle.IsValid(Width, Height))
{
DistortedHandle.Release();
DistortedHandle = null;
}
if (DistortedHandle == null)
{
DistortedHandle = SensorRenderTarget.Create2D(Width, Height, GraphicsFormat.R8G8B8A8_SRGB, true);
}
}
else
{
// Undistorted - use only sensor-sized texture
if (DistortedHandle != null)
{
DistortedHandle.Release();
DistortedHandle = null;
}
targetWidth = Width;
targetHeight = Height;
}
if (targetWidth > 0)
{
if (renderTarget != null && !renderTarget.IsValid(targetWidth, targetHeight))
{
renderTarget.Release();
renderTarget = null;
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(targetWidth, targetHeight, GraphicsFormat.R8G8B8A8_SRGB, !Distorted);
SensorCamera.targetTexture = renderTarget;
}
}
}
void CheckTexture()
{
if (!Distorted || !Fisheye) // No-distortion and non-fisheye distortion use Camera.Render().
{
// if this is not first time
if (renderTarget != null)
{
if (!renderTarget.IsValid(RenderTextureWidth, RenderTextureHeight))
{
// if camera capture size has changed or we have lost rendertexture due to Unity window resizing or otherwise
renderTarget.Release();
renderTarget = null;
}
}
if (renderTarget == null)
{
renderTarget = SensorRenderTarget.Create2D(RenderTextureWidth, RenderTextureHeight);
SensorCamera.targetTexture = renderTarget;
}
}
else // Fisheye camera uses Camera.RenderToCubemap(...), and thus do not need normal RenderTexture.
{
// Although Camera.RenderToCubemap has its own target texture as parameter,
// setting Camera.targetTexture will still affect its result.
// So we set Camera.targetTexture to null to make sure its result is correct.
SensorCamera.targetTexture = null;
if (CurrentCubemapSize != CubemapSize)
{
CubemapTexture.Release();
CubemapTexture = null;
}
if (CubemapTexture == null)
{
CubemapTexture = new RenderTexture(CubemapSize, CubemapSize, 24, RenderTextureFormat.ARGB32, CameraTargetTextureReadWriteType)
{
dimension = TextureDimension.Cube,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear,
};
CubemapTexture.Create();
}
}
if (Distorted)
{
// if this is not first time
if (DistortedTexture != null)
{
if (SizeChanged)
{
// if camera capture size has changed
DistortedTexture.Release();
DistortedTexture = null;
}
else if (!DistortedTexture.IsCreated())
{
// if we have lost DistortedTexture due to Unity window resizing or otherwise
DistortedTexture.Release();
DistortedTexture = null;
}
}
if (DistortedTexture == null)
{
DistortedTexture = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, CameraTargetTextureReadWriteType)
{
dimension = TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear,
enableRandomWrite = true,
};
DistortedTexture.Create();
}
}
}