// Update is called once per frame
void Update()
{
if (!PopCheckCurrentCamera.CheckCurrentCamera())
{
return;
}
if (!mInputPrev ||
!mInputNext ||
!mMakeFeaturesShader ||
!mFeaturesPrev ||
!mFeaturesNext ||
!mTrackFeaturesShader ||
!mFeatureMatches
)
{
Debug.Log("FeatureMatcher not setup");
return;
}
// make features for both inputs
mFeaturesPrev.DiscardContents();
mFeaturesNext.DiscardContents();
Graphics.Blit(mInputPrev, mFeaturesPrev, mMakeFeaturesShader);
Graphics.Blit(mInputNext, mFeaturesNext, mMakeFeaturesShader);
// match features
mTrackFeaturesShader.SetTexture("FeaturesPrev", mFeaturesPrev);
Graphics.Blit(mFeaturesNext, mFeatureMatches, mTrackFeaturesShader);
FeatureTrackOptions Options = new FeatureTrackOptions();
Options.MaxResults = mMaxResults;
mJoints = FeatureTracker.GetFeatureTracks(mFeatureMatches, ref mFeatureMatchesBuffer, Options);
if (mCopyToPrev)
{
Graphics.Blit(mInputNext, mInputPrev);
}
}
static FeatureResults CalcFeaturePairs(Color32[] TrackedFeaturesData, int ImageWidth, int ImageHeight, FeatureTrackOptions Options)
{
FeatureResults Results = new FeatureResults();
// count matches
for (int i = 0; i < TrackedFeaturesData.Length; i++)
{
if (TrackedFeaturesData [i].a < 1)
{
continue;
}
Results.mTotalResults++;
if (Results.mMatches.Count >= Options.MaxResults)
{
break;
}
int y = i / ImageWidth;
int x = i % ImageWidth;
float Startu = x / (float)ImageWidth;
float Startv = y / (float)ImageHeight;
float Endu = (TrackedFeaturesData [i].r / 255.0f);
float Endv = (TrackedFeaturesData [i].g / 255.0f);
Vector4 Match = new Vector4(Startu, Startv, Endu, Endv);
Results.mMatches.Add(Match);
}
return(Results);
}
public static FeatureResults GetFeatureTracks(RenderTexture FeatureMatches, ref Texture2D FeatureMatchesBuffer, FeatureTrackOptions Options)
{
if (!FeatureMatches)
{
return(null);
}
if (!FeatureMatchesBuffer)
{
FeatureMatchesBuffer = new Texture2D(FeatureMatches.width, FeatureMatches.height, TextureFormat.ARGB32, false);
}
// extract data for debug rendering
RenderTexture.active = FeatureMatches;
FeatureMatchesBuffer.ReadPixels(new Rect(0, 0, FeatureMatches.width, FeatureMatches.height), 0, 0);
FeatureMatchesBuffer.Apply(true);
Color32[] FeatureMatchesData = FeatureMatchesBuffer.GetPixels32();
RenderTexture.active = null;
FeatureResults Results = CalcFeaturePairs(FeatureMatchesData, FeatureMatchesBuffer.width, FeatureMatchesBuffer.height, Options);
return(Results);
}
