IR Cam Test using Keijiro's Unity Apriltag plugin

using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using UI = UnityEngine.UI;

public class IRCamTest : MonoBehaviour
{
    [SerializeField] Camera cam;
    [SerializeField] Vector2Int _resolution = new Vector2Int(1280, 720);
    [SerializeField] int _decimation = 4;
    [SerializeField] float _tagSize = 0.05f;
    [SerializeField] Material _tagMaterial = null;
    [SerializeField] UI.Text _debugText = null;
    [SerializeField] UI.RawImage _webcamPreview = null;
    RenderTexture _webcamBuffer;
    Texture2D output;
    Texture2D source;

    Color32[] _readBuffer;

    // AprilTag detector and drawer
    AprilTag.TagDetector _detector;
    TagDrawer _drawer;

    // Start is called before the first frame update
    void Start()
    {
        //Set up detector and drawer
        _detector = new AprilTag.TagDetector(_resolution.x, _resolution.y, _decimation);
        _drawer = new TagDrawer(_tagMaterial);
        //Create output texture and assign to rawimage
        _webcamBuffer = new RenderTexture(_resolution.x, _resolution.y, 0);
        _webcamPreview.texture = _webcamBuffer;
        //2D tex for conversion purposes
        output = new Texture2D(_resolution.x, _resolution.y);
        //Init this. Important, dont init this and it crashes because you're feeding it a null array
        _readBuffer = new Color32[_resolution.x * _resolution.y];
    }

    void OnDestroy()
    {
        _detector.Dispose();
        _drawer.Dispose();
    }

    //Get texture from sensor (runs once on sensor connect)
    public void GetData (Texture _source)
    {
        source = (Texture2D)_source;
    }

    // Update is called once per frame
    void Update()
    {
        //Takes a few frames to get the sensor tex
        if (source == null)
        {
            return;
        }

        //Get latest read from source texture
        _readBuffer = source.GetPixels32();

        //Assign it to the output
        output.SetPixels32(_readBuffer);
        output.Apply();
        Graphics.Blit(output, _webcamBuffer);

        //Get up to date FOV. Realsense D430 horizontal FOV = 86 degrees
        var fov = cam.fieldOfView * Mathf.Deg2Rad;
        _detector.ProcessImage(_readBuffer, fov, _tagSize);

        //Left this in, but changed so much, not sure if it works.
        foreach (var tag in _detector.DetectedTags)
            _drawer.Draw(tag.ID, tag.Position, tag.Rotation, _tagSize);


        if (Time.frameCount % 30 == 0)
        {
            //Output found tags.
            _debugText.text = $"Tags: {_detector.DetectedTags.Count()}";
            foreach (var tag in _detector.DetectedTags)
            {
                _debugText.text += $"\n{tag.ID}, {tag.Position}, {tag.Rotation}";
            }
        }

    }
}