mirror of
https://github.com/storytold/Azure-Kinect-Sample-for-Unity.git
synced 2026-10-09 00:09:50 +00:00
sample
This commit is contained in:
Takashi Yoshinaga
+66
-78
@@ -1,7 +1,6 @@
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using Microsoft.Azure.Kinect.Sensor.WinForms;
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using Microsoft.Azure.Kinect.Sensor;
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using System.Runtime.InteropServices;
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using System;
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@@ -11,16 +10,17 @@ public class KinectScript : MonoBehaviour
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{
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int depthWidth;
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int depthHeight;
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Transformation transformation;
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int pointNum;
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int nearClip = 300;
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Mesh mesh;
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int visNum;
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Vector3[] vertices;
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int[] vertexIndeces;
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int[] indeces;
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Color32[] col;
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Texture2D tex;
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Texture2D texture;
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Transformation transformation;
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Device device;
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int nearThreshold = 300;
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private void OnDestroy()
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{
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@@ -29,13 +29,8 @@ public class KinectScript : MonoBehaviour
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void Start()
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{
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InitKinect();
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InitRenderingInfo();
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InitKinect();
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InitMesh();
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Task t = KinectLoop(device);
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}
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void InitKinect()
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@@ -44,7 +39,7 @@ public class KinectScript : MonoBehaviour
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device.StartCameras(new DeviceConfiguration
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{
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ColorFormat = ImageFormat.ColorBGRA32,
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ColorResolution = ColorResolution.R1080p,
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ColorResolution = ColorResolution.R720p,
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DepthMode = DepthMode.NFOV_Unbinned,
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SynchronizedImagesOnly = true,
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CameraFPS = FPS.FPS30,
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@@ -52,30 +47,29 @@ public class KinectScript : MonoBehaviour
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transformation = device.GetCalibration().CreateTransformation();
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depthWidth = device.GetCalibration().DepthCameraCalibration.ResolutionWidth;
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depthHeight = device.GetCalibration().DepthCameraCalibration.ResolutionHeight;
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depthWidth = device.GetCalibration().depth_camera_calibration.resolution_width;
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depthHeight = device.GetCalibration().depth_camera_calibration.resolution_height;
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pointNum = depthWidth * depthHeight;
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}
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void InitRenderingInfo()
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void InitMesh()
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{
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mesh = new Mesh();
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mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
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visNum = depthWidth * depthHeight;
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tex = new Texture2D(depthWidth, depthHeight);
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col = new Color32[visNum];
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texture = new Texture2D(depthWidth, depthHeight);
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col = new Color32[pointNum];
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vertices = new Vector3[visNum];
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Vector2[] uv = new Vector2[visNum];
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vertices = new Vector3[pointNum];
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Vector2[] uv = new Vector2[pointNum];
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Vector3[] normals = new Vector3[visNum];
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vertexIndeces = new int[6 * (depthWidth - 1) * (depthHeight - 1)];
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Vector3[] normals = new Vector3[pointNum];
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indeces = new int[6 * (depthWidth - 1) * (depthHeight - 1)];
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int index = 0;
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for (int y = 0; y < depthHeight; y++)
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{
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for (int x = 0; x < depthWidth; x++)
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{
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int index = (y * depthWidth) + x;
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uv[index] = new Vector2(((float)(x+0.5f) / (float)(depthWidth)), ((float)(y+0.5f) / ((float)(depthHeight))));
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normals[index] = new Vector3(0, -1, 0);
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index++;
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@@ -85,7 +79,7 @@ public class KinectScript : MonoBehaviour
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mesh.vertices = vertices;
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mesh.uv = uv;
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mesh.normals = normals;
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gameObject.GetComponent<MeshRenderer>().materials[0].mainTexture = tex;
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gameObject.GetComponent<MeshRenderer>().materials[0].mainTexture = texture;
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gameObject.GetComponent<MeshFilter>().mesh = mesh;
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}
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@@ -100,80 +94,74 @@ public class KinectScript : MonoBehaviour
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{
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Image modifiedColor = transformation.ColorImageToDepthCamera(capture);
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BGRA[] colorArray = modifiedColor.GetPixels<BGRA>().ToArray();
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Image hoge = transformation.DepthImageToPointCloud(capture.Depth);
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Short3[] PointCloud = hoge.GetPixels<Short3>().ToArray();
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int width = depthWidth;
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int height = depthHeight;
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Image cloudImage = transformation.DepthImageToPointCloud(capture.Depth);
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Short3[] PointCloud = cloudImage.GetPixels<Short3>().ToArray();
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int triangleIndex = 0;
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for (int y = 0; y < height; y++)
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int pointIndex = 0;
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int topLeft, topRight, bottomLeft, bottomRight;
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int tl, tr, bl, br;
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for (int y = 0; y < depthHeight; y++)
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{
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for (int x = 0; x < width; x++)
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for (int x = 0; x < depthWidth; x++)
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{
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int index = (y * width) + x;
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vertices[pointIndex].x = PointCloud[pointIndex].X * 0.001f;
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vertices[pointIndex].y = -PointCloud[pointIndex].Y * 0.001f;
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vertices[pointIndex].z = PointCloud[pointIndex].Z * 0.001f;
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vertices[index].x = PointCloud[index].X * 0.001f;
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vertices[index].y = -PointCloud[index].Y * 0.001f;
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vertices[index].z = PointCloud[index].Z * 0.001f;
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col[pointIndex].a = 255;
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col[pointIndex].b = colorArray[pointIndex].B;
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col[pointIndex].g = colorArray[pointIndex].G;
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col[pointIndex].r = colorArray[pointIndex].R;
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col[index].a = 255;
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col[index].b = colorArray[index].B;
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col[index].g = colorArray[index].G;
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col[index].r = colorArray[index].R;
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if (x != (width - 1) && y != (height - 1))
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if (x != (depthWidth - 1) && y != (depthHeight - 1))
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{
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int topLeft = index;
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int topRight = topLeft + 1;
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int bottomLeft = topLeft + width;
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int bottomRight = bottomLeft + 1;
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int tl = PointCloud[index].Z;
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int tr = PointCloud[index + 1].Z;
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int bl = PointCloud[index + depthWidth].Z;
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int br = PointCloud[index + 1 + depthWidth].Z;
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if (tl > nearThreshold && tr > nearThreshold && bl > nearThreshold)
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topLeft = pointIndex;
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topRight = topLeft + 1;
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bottomLeft = topLeft + depthWidth;
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bottomRight = bottomLeft + 1;
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tl = PointCloud[topLeft].Z;
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tr = PointCloud[topRight].Z;
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bl = PointCloud[bottomLeft].Z;
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br = PointCloud[bottomRight].Z;
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if (tl > nearClip && tr > nearClip && bl > nearClip)
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{
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vertexIndeces[triangleIndex++] = topLeft;
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vertexIndeces[triangleIndex++] = topRight;
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vertexIndeces[triangleIndex++] = bottomLeft;
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indeces[triangleIndex++] = topLeft;
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indeces[triangleIndex++] = topRight;
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indeces[triangleIndex++] = bottomLeft;
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}
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else
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{
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vertexIndeces[triangleIndex++] = 0;
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vertexIndeces[triangleIndex++] = 0;
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vertexIndeces[triangleIndex++] = 0;
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indeces[triangleIndex++] = 0;
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indeces[triangleIndex++] = 0;
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indeces[triangleIndex++] = 0;
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}
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if (bl > nearThreshold && tr > nearThreshold && br > nearThreshold)
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if (bl > nearClip && tr > nearClip && br > nearClip)
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{
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vertexIndeces[triangleIndex++] = bottomLeft;
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vertexIndeces[triangleIndex++] = topRight;
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vertexIndeces[triangleIndex++] = bottomRight;
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indeces[triangleIndex++] = bottomLeft;
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indeces[triangleIndex++] = topRight;
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indeces[triangleIndex++] = bottomRight;
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}
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else
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{
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vertexIndeces[triangleIndex++] = 0;
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vertexIndeces[triangleIndex++] = 0;
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vertexIndeces[triangleIndex++] = 0;
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indeces[triangleIndex++] = 0;
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indeces[triangleIndex++] = 0;
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indeces[triangleIndex++] = 0;
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}
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}
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pointIndex++;
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}
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}
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tex.SetPixels32(col);
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tex.Apply();
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texture.SetPixels32(col);
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texture.Apply();
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mesh.vertices = vertices;
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mesh.triangles = vertexIndeces;
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mesh.triangles = indeces;
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mesh.RecalculateBounds();
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}
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}
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