void Update()
{
if (!_cameraTexture || !_dirtyCameraTexture)
{
return;
}
// Init.
AdaptResources();
// Update mat texture ( If the texture looks correct in Unity, then it needs to be flipped for OpenCV ).
TrackingToolsHelper.TextureToMat(_cameraTexture, !_flipCameraTexture, ref _camTexMat, ref _tempTransferColors, ref _tempTransferTexture);
// Convert to grayscale if more than one channel, else copy (and convert bit rate if necessary).
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
// During testing, undistort before.
if (_state == State.Testing)
{
Calib3d.undistort(_camTexGrayMat, _camTexGrayUndistortMat, _intrinsicsCalibrator.sensorMat, _intrinsicsCalibrator.distortionCoeffsMat);
}
// Find chessboard.
Mat chessboardSourceMat = _state == State.Calibrating ? _camTexGrayMat : _camTexGrayUndistortMat;
bool foundBoard = TrackingToolsHelper.FindChessboardCorners(chessboardSourceMat, _chessPatternSize, ref _chessCornersImageMat);
if (foundBoard)
{
TrackingToolsHelper.DrawFoundPattern(chessboardSourceMat, _chessPatternSize, _chessCornersImageMat);
}
// During calibration, undistort after.
if (_state == State.Calibrating)
{
if (_intrinsicsCalibrator.sampleCount > correctDistortionSampleCountThreshold)
{
Calib3d.undistort(_camTexGrayMat, _camTexGrayUndistortMat, _intrinsicsCalibrator.sensorMat, _intrinsicsCalibrator.distortionCoeffsMat);
}
else
{
_camTexGrayMat.copyTo(_camTexGrayUndistortMat);
}
}
// State dependent updates.
switch (_state)
{
case State.Calibrating: UpdateCalibration(foundBoard); break;
case State.Testing: UpdateTesting(foundBoard); break;
}
// UI.
Utils.fastMatToTexture2D(_camTexGrayUndistortMat, _processedCameraTexture); // Will flip as default.
_previewFlasher.Update();
UpdateSampleCounterUI();
_dirtyCameraTexture = false;
}
void Update()
{
if (Input.GetKeyDown(_interactibaleHotKey))
{
if (!interactable && _cameraTexture == null)
{
Debug.LogWarning(logPrepend + "Missing camera texture.\n");
return;
}
interactable = !interactable;
}
if (!_cameraTexture)
{
return;
}
// Adapt resources.
AdaptResources();
if (_dirtyTexture)
{
// Undistort.
if (_cameraTexture is WebCamTexture)
{
Utils.webCamTextureToMat(_cameraTexture as WebCamTexture, _camTexMat, flip: false);
}
else if (_cameraTexture is Texture2D)
{
Utils.fastTexture2DToMat(_cameraTexture as Texture2D, _camTexMat, flip: false);
}
else
{
Debug.LogWarning(logPrepend + "Only Texture2D and WenCamTexture is supported.\n");
return;
}
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
Calib3d.undistort(_camTexGrayMat, _camTexGrayUndistortMat, _cameraMatrix, _distCoeffs);
Utils.fastMatToTexture2D(_camTexGrayUndistortMat, _undistortedCameraTexture);
_dirtyTexture = false;
}
if (_interactable)
{
UpdateInteraction();
}
if (_dirtyPoints)
{
UpdateCameraTransform();
_dirtyPoints = false;
}
}