sample

Assets/KinectScript.cs

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

Library/CurrentLayout.dwlt

@@ -14,14 +14,14 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   m_PixelRect:
     serializedVersion: 2
-    x: 0
+    x: 7.3333335
-    y: 43
+    y: 50
-    width: 1920
+    width: 1265
-    height: 997
+    height: 703
   m_ShowMode: 4
   m_Title: 
   m_RootView: {fileID: 6}
-  m_MinSize: {x: 950, y: 300}
+  m_MinSize: {x: 950, y: 374}
   m_MaxSize: {x: 10000, y: 10000}
 --- !u!114 &2
 MonoBehaviour:
@@ -42,12 +42,12 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 30
-    width: 1920
+    width: 1265
-    height: 947
+    height: 653
-  m_MinSize: {x: 681, y: 498}
+  m_MinSize: {x: 679, y: 324}
-  m_MaxSize: {x: 14004, y: 14048}
+  m_MaxSize: {x: 12004, y: 8024}
   vertical: 0
-  controlID: 103
+  controlID: 49
 --- !u!114 &3
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -63,12 +63,12 @@ MonoBehaviour:
   m_Children: []
   m_Position:
     serializedVersion: 2
-    x: 1308
+    x: 862
     y: 0
-    width: 612
+    width: 403
-    height: 947
+    height: 653
-  m_MinSize: {x: 277, y: 74}
+  m_MinSize: {x: 275, y: 50}
-  m_MaxSize: {x: 4002, y: 4024}
+  m_MaxSize: {x: 4000, y: 4000}
   m_ActualView: {fileID: 15}
   m_Panes:
   - {fileID: 15}
@@ -92,8 +92,8 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 325
+    width: 214
-    height: 573
+    height: 379
   m_MinSize: {x: 200, y: 200}
   m_MaxSize: {x: 4000, y: 4000}
   m_ActualView: {fileID: 16}
@@ -117,17 +117,17 @@ MonoBehaviour:
   m_Position:
     serializedVersion: 2
     x: 0
-    y: 573
+    y: 379
-    width: 1308
+    width: 862
-    height: 374
+    height: 274
-  m_MinSize: {x: 232, y: 274}
+  m_MinSize: {x: 100, y: 100}
-  m_MaxSize: {x: 10002, y: 10024}
+  m_MaxSize: {x: 4000, y: 4000}
-  m_ActualView: {fileID: 14}
+  m_ActualView: {fileID: 19}
   m_Panes:
   - {fileID: 14}
   - {fileID: 19}
-  m_Selected: 0
+  m_Selected: 1
-  m_LastSelected: 1
+  m_LastSelected: 0
 --- !u!114 &6
 MonoBehaviour:
   m_ObjectHideFlags: 52
@@ -148,9 +148,9 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1920
+    width: 1265
-    height: 997
+    height: 703
-  m_MinSize: {x: 950, y: 300}
+  m_MinSize: {x: 950, y: 374}
   m_MaxSize: {x: 10000, y: 10000}
 --- !u!114 &7
 MonoBehaviour:
@@ -169,7 +169,7 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1920
+    width: 1265
     height: 30
   m_MinSize: {x: 0, y: 0}
   m_MaxSize: {x: 0, y: 0}
@@ -190,8 +190,8 @@ MonoBehaviour:
   m_Position:
     serializedVersion: 2
     x: 0
-    y: 977
+    y: 683
-    width: 1920
+    width: 1265
     height: 20
   m_MinSize: {x: 0, y: 0}
   m_MaxSize: {x: 0, y: 0}
@@ -214,10 +214,10 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1308
+    width: 862
-    height: 947
+    height: 653
-  m_MinSize: {x: 404, y: 498}
+  m_MinSize: {x: 404, y: 324}
-  m_MaxSize: {x: 10002, y: 14048}
+  m_MaxSize: {x: 8004, y: 8024}
   vertical: 1
   controlID: 50
 --- !u!114 &10
@@ -239,8 +239,8 @@ MonoBehaviour:
     serializedVersion: 2
     x: 0
     y: 0
-    width: 1308
+    width: 862
-    height: 573
+    height: 379
   m_MinSize: {x: 404, y: 224}
   m_MaxSize: {x: 8004, y: 4024}
   vertical: 0
@@ -260,10 +260,10 @@ MonoBehaviour:
   m_Children: []
   m_Position:
     serializedVersion: 2
-    x: 325
+    x: 214
     y: 0
-    width: 983
+    width: 648
-    height: 573
+    height: 379
   m_MinSize: {x: 204, y: 224}
   m_MaxSize: {x: 4004, y: 4024}
   m_ActualView: {fileID: 17}
@@ -351,10 +351,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 0
+    x: 7.3333335
-    y: 646
+    y: 459.33334
-    width: 1306
+    width: 860
-    height: 354
+    height: 254
   m_PersistentViewDataDictionary: {fileID: 0}
   m_SearchFilter:
     m_NameFilter: 
@@ -374,14 +374,14 @@ MonoBehaviour:
   m_LastFolders:
   - Assets
   m_LastFoldersGridSize: -1
-  m_LastProjectPath: C:\Users\Yoshinaga\Desktop\Share\AzureKinectUnitySample
+  m_LastProjectPath: C:\Users\Yoshinaga\Documents\GitHub\Azure-Kinect-Sample-for-Unity
   m_LockTracker:
     m_IsLocked: 0
   m_FolderTreeState:
     scrollPos: {x: 0, y: 0}
-    m_SelectedIDs: 62300000
+    m_SelectedIDs: 3a320000
-    m_LastClickedID: 12386
+    m_LastClickedID: 12858
-    m_ExpandedIDs: 000000006230000000ca9a3bffffff7f
+    m_ExpandedIDs: 000000007e290000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -409,7 +409,7 @@ MonoBehaviour:
     scrollPos: {x: 0, y: 0}
     m_SelectedIDs: 
     m_LastClickedID: 0
-    m_ExpandedIDs: 
+    m_ExpandedIDs: 000000007e290000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
       m_Name: 
@@ -436,7 +436,7 @@ MonoBehaviour:
   m_ListAreaState:
     m_SelectedInstanceIDs: 
     m_LastClickedInstanceID: 0
-    m_HadKeyboardFocusLastEvent: 1
+    m_HadKeyboardFocusLastEvent: 0
     m_ExpandedInstanceIDs: c6230000
     m_RenameOverlay:
       m_UserAcceptedRename: 0
@@ -485,10 +485,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 1308
+    x: 869.3334
-    y: 73
+    y: 80
-    width: 610
+    width: 401
-    height: 927
+    height: 633
   m_PersistentViewDataDictionary: {fileID: 0}
   m_ObjectsLockedBeforeSerialization: []
   m_InstanceIDsLockedBeforeSerialization: 
@@ -520,17 +520,17 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 0
+    x: 7.3333335
-    y: 73
+    y: 80
-    width: 323
+    width: 212
-    height: 553
+    height: 359
   m_PersistentViewDataDictionary: {fileID: 0}
   m_SceneHierarchy:
     m_TreeViewState:
       scrollPos: {x: 0, y: 0}
-      m_SelectedIDs: b8350000
+      m_SelectedIDs: 
       m_LastClickedID: 0
-      m_ExpandedIDs: a2edffff
+      m_ExpandedIDs: c6fbffff
       m_RenameOverlay:
         m_UserAcceptedRename: 0
         m_Name: 
@@ -575,10 +575,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 325
+    x: 221.33334
-    y: 73
+    y: 80
-    width: 979
+    width: 644
-    height: 553
+    height: 359
   m_PersistentViewDataDictionary: {fileID: 0}
   m_WindowGUID: 1ed7a1dd888ffe74ca312206bb543050
   m_SceneLighting: 1
@@ -616,9 +616,9 @@ MonoBehaviour:
       speed: 2
       m_Value: 0
   m_Rotation:
-    m_Target: {x: 0.020545978, y: 0.11730118, z: 0.0024274134, w: -0.99288094}
+    m_Target: {x: -0.13043383, y: -0.006843828, z: 0.00090044463, w: -0.9914331}
     speed: 2
-    m_Value: {x: 0.020545978, y: 0.11730118, z: 0.0024274134, w: -0.99288094}
+    m_Value: {x: -0.13043383, y: -0.006843828, z: 0.00090044463, w: -0.9914331}
   m_Size:
     m_Target: 1.8747299
     speed: 2
@@ -655,10 +655,10 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 325
+    x: 221.33334
-    y: 73
+    y: 80
-    width: 979
+    width: 644
-    height: 553
+    height: 359
   m_PersistentViewDataDictionary: {fileID: 0}
   m_MaximizeOnPlay: 0
   m_Gizmos: 0
@@ -670,10 +670,10 @@ MonoBehaviour:
     m_VRangeLocked: 0
     hZoomLockedByDefault: 0
     vZoomLockedByDefault: 0
-    m_HBaseRangeMin: -489.5
+    m_HBaseRangeMin: -214.66667
-    m_HBaseRangeMax: 489.5
+    m_HBaseRangeMax: 214.66667
-    m_VBaseRangeMin: -268
+    m_VBaseRangeMin: -114
-    m_VBaseRangeMax: 268
+    m_VBaseRangeMax: 114
     m_HAllowExceedBaseRangeMin: 1
     m_HAllowExceedBaseRangeMax: 1
     m_VAllowExceedBaseRangeMin: 1
@@ -691,25 +691,25 @@ MonoBehaviour:
       serializedVersion: 2
       x: 0
       y: 17
-      width: 979
+      width: 644
-      height: 536
+      height: 342
     m_Scale: {x: 1, y: 1}
-    m_Translation: {x: 489.5, y: 268}
+    m_Translation: {x: 322, y: 171}
     m_MarginLeft: 0
     m_MarginRight: 0
     m_MarginTop: 0
     m_MarginBottom: 0
     m_LastShownAreaInsideMargins:
       serializedVersion: 2
-      x: -489.5
+      x: -322
-      y: -268
+      y: -171
-      width: 979
+      width: 644
-      height: 536
+      height: 342
     m_MinimalGUI: 1
   m_defaultScale: 1
   m_TargetTexture: {fileID: 0}
   m_CurrentColorSpace: 0
-  m_LastWindowPixelSize: {x: 979, y: 553}
+  m_LastWindowPixelSize: {x: 966, y: 538.5}
   m_ClearInEditMode: 1
   m_NoCameraWarning: 1
   m_LowResolutionForAspectRatios: 01000000000100000100
@@ -735,8 +735,8 @@ MonoBehaviour:
     m_Tooltip: 
   m_Pos:
     serializedVersion: 2
-    x: 0
+    x: 7.3333335
-    y: 646
+    y: 459.33334
-    width: 1306
+    width: 860
-    height: 354
+    height: 254
   m_PersistentViewDataDictionary: {fileID: 0}

Library/ScriptAssemblies/BuiltinAssemblies.stamp

@@ -1 +1 @@
-08d7169d4e90bf00.08d7169d50f31900
+08d72a00e6fe3300.08d72a00e9608d00

Library/StateCache/SceneView/1ed7a1-mainStage.json

@@ -1 +1 @@
-{"cameraMode":{"drawMode":0,"name":"Shaded","section":"Shading Mode"},"sceneLighting":true,"audioPlay":false,"sceneViewState":{"showFog":true,"showMaterialUpdate":false,"showSkybox":true,"showFlares":true,"showImageEffects":true,"showParticleSystems":true},"in2DMode":false,"pivot":{"x":0.0,"y":0.0,"z":0.0},"rotation":{"x":0.020545978099107744,"y":0.11730118095874787,"z":0.002427413361147046,"w":-0.9928809404373169},"size":1.874729871749878,"orthographic":false}
+{"cameraMode":{"drawMode":0,"name":"Shaded","section":"Shading Mode"},"sceneLighting":true,"audioPlay":false,"sceneViewState":{"showFog":true,"showMaterialUpdate":false,"showSkybox":true,"showFlares":true,"showImageEffects":true,"showParticleSystems":true},"in2DMode":false,"pivot":{"x":0.0,"y":0.0,"z":0.0},"rotation":{"x":-0.1304338276386261,"y":-0.00684382813051343,"z":0.0009004446328617632,"w":-0.9914330840110779},"size":1.874729871749878,"orthographic":false}