Image Tracker with ZED and MAXST

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using maxstAR;
using HelperScripts;

public class ImageTrackerZedMAXST : ARBehaviour
{
    [SerializeField]
    private RenderTexture camRendTex;
    private Texture2D camTex;

    public bool horiFlip = false;
    public bool vertFlip = false;


    private Dictionary<string, ImageTrackableBehaviour> imageTrackablesMap =
    new Dictionary<string, ImageTrackableBehaviour>();

    private CameraBackgroundBehaviour cameraBackgroundBehaviour = null;

    private void Awake()
    {
        Init();

        cameraBackgroundBehaviour = FindObjectOfType<CameraBackgroundBehaviour>();
        camTex = new Texture2D(camRendTex.width, camRendTex.height, TextureFormat.RGBA32, false);
    }

    // Start is called before the first frame update
    void Start()
    {
        QualitySettings.vSyncCount = 0;
        //Application.targetFrameRate = 60;

        imageTrackablesMap.Clear();
        ImageTrackableBehaviour[] imageTrackables = FindObjectsOfType<ImageTrackableBehaviour>();
        foreach (var trackable in imageTrackables)
        {
            imageTrackablesMap.Add(trackable.TrackableName, trackable);
            Debug.Log("Trackable add: " + trackable.TrackableName);
        }

        AddTrackerData();
        TrackerManager.GetInstance().StartTracker(TrackerManager.TRACKER_TYPE_IMAGE);

        CameraDevice.GetInstance().FlipVideo(CameraDevice.FlipDirection.HORIZONTAL, horiFlip);
        CameraDevice.GetInstance().FlipVideo(CameraDevice.FlipDirection.VERTICAL, vertFlip);
    }

    // Update is called once per frame
    void Update()
    {

        CameraDevice.GetInstance().FlipVideo(CameraDevice.FlipDirection.HORIZONTAL, horiFlip);
        CameraDevice.GetInstance().FlipVideo(CameraDevice.FlipDirection.VERTICAL, vertFlip);

        DisableAllTrackables();

        TextureScale.RenderToTexture(camRendTex, ref camTex);
        CameraDevice.GetInstance().SetNewFrame(camTex.GetRawTextureData(), camTex.GetRawTextureData().Length, camTex.width, camTex.height, ColorFormat.RGBA8888);

        TrackingState state = TrackerManager.GetInstance().UpdateTrackingState();

        if (state == null)
        {
            return;
        }

        cameraBackgroundBehaviour.UpdateCameraBackgroundImage(state);

        TrackingResult trackingResult = state.GetTrackingResult();
        for (int i = 0; i < trackingResult.GetCount(); i++)
        {
            Debug.Log(i);
            Trackable trackable = trackingResult.GetTrackable(i);
            imageTrackablesMap[trackable.GetName()].OnTrackSuccess(
                trackable.GetId(), trackable.GetName(), trackable.GetPose());
        }
    }

    private void AddTrackerData()
    {
        foreach (var trackable in imageTrackablesMap)
        {
            if (trackable.Value.TrackerDataFileName.Length == 0)
            {
                continue;
            }

            if (trackable.Value.StorageType == StorageType.AbsolutePath)
            {
                TrackerManager.GetInstance().AddTrackerData(trackable.Value.TrackerDataFileName);
                TrackerManager.GetInstance().LoadTrackerData();
            }
            else if(trackable.Value.StorageType == StorageType.StreamingAssets)
            {
                if (Application.platform == RuntimePlatform.Android)
                {
                    StartCoroutine(MaxstARUtil.ExtractAssets(trackable.Value.TrackerDataFileName, (filePath) =>
                    {
                        TrackerManager.GetInstance().AddTrackerData(filePath, false);
                        TrackerManager.GetInstance().LoadTrackerData();
                    }));
                }
                else
                {
                    TrackerManager.GetInstance().AddTrackerData(Application.streamingAssetsPath + "/" + trackable.Value.TrackerDataFileName);
                    TrackerManager.GetInstance().LoadTrackerData();
                }
            }
        }
    }

    private void DisableAllTrackables()
    {
        foreach (var trackable in imageTrackablesMap)
        {
            trackable.Value.OnTrackFail();
        }
    }

    public void SetNormalMode()
    {
        TrackerManager.GetInstance().SetTrackingOption(TrackerManager.TrackingOption.NORMAL_TRACKING);
    }

    public void SetExtendedMode()
    {
        TrackerManager.GetInstance().SetTrackingOption(TrackerManager.TrackingOption.EXTEND_TRACKING);
    }

    public void SetMultiMode()
    {
        TrackerManager.GetInstance().SetTrackingOption(TrackerManager.TrackingOption.MULTI_TRACKING);
    }

    void OnApplicationPause(bool pause)
    {
        if (pause)
        {
            TrackerManager.GetInstance().StopTracker();
        }
        else
        {
            TrackerManager.GetInstance().StartTracker(TrackerManager.TRACKER_TYPE_IMAGE);
        }
    }

    void OnDestroy()
    {
        imageTrackablesMap.Clear();
        TrackerManager.GetInstance().SetTrackingOption(TrackerManager.TrackingOption.NORMAL_TRACKING);
        TrackerManager.GetInstance().StopTracker();
        TrackerManager.GetInstance().DestroyTracker();
    }

}