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Modified program for SDK1.4.1 and added Point Cloud Sample

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This commit is contained in:
Takashi Yoshinaga
2020-08-02 10:31:49 +09:00
parent bafece63e7
commit 77bf33fa61
2269 changed files with 49 additions and 78440 deletions
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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Microsoft.Azure.Kinect.Sensor;
using System.Runtime.InteropServices;
using System;
using System.Threading.Tasks;
public class KinectScript : MonoBehaviour
{
int depthWidth;
int depthHeight;
int pointNum;
int nearClip = 300;
Mesh mesh;
Vector3[] vertices;
int[] indeces;
Color32[] col;
Texture2D texture;
Transformation transformation;
Device device;
private void OnDestroy()
{
device.StopCameras();
}
void Start()
{
InitKinect();
InitMesh();
Task t = KinectLoop(device);
}
void InitKinect()
{
device = Device.Open(0);
device.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.NFOV_Unbinned,
SynchronizedImagesOnly = true,
CameraFPS = FPS.FPS30,
});
transformation = device.GetCalibration().CreateTransformation();
depthWidth = device.GetCalibration().depth_camera_calibration.resolution_width;
depthHeight = device.GetCalibration().depth_camera_calibration.resolution_height;
pointNum = depthWidth * depthHeight;
}
void InitMesh()
{
mesh = new Mesh();
mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
texture = new Texture2D(depthWidth, depthHeight);
col = new Color32[pointNum];
vertices = new Vector3[pointNum];
Vector2[] uv = new Vector2[pointNum];
Vector3[] normals = new Vector3[pointNum];
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++)
{
uv[index] = new Vector2(((float)(x+0.5f) / (float)(depthWidth)), ((float)(y+0.5f) / ((float)(depthHeight))));
normals[index] = new Vector3(0, -1, 0);
index++;
}
}
mesh.vertices = vertices;
mesh.uv = uv;
mesh.normals = normals;
gameObject.GetComponent<MeshRenderer>().materials[0].mainTexture = texture;
gameObject.GetComponent<MeshFilter>().mesh = mesh;
}
private async Task KinectLoop(Device device)
{
while (true)
{
using (Capture capture = await Task.Run(() => device.GetCapture()).ConfigureAwait(true))
{
Image modifiedColor = transformation.ColorImageToDepthCamera(capture);
BGRA[] colorArray = modifiedColor.GetPixels<BGRA>().ToArray();
Image cloudImage = transformation.DepthImageToPointCloud(capture.Depth);
Short3[] PointCloud = cloudImage.GetPixels<Short3>().ToArray();
int triangleIndex = 0;
int pointIndex = 0;
int topLeft, topRight, bottomLeft, bottomRight;
int tl, tr, bl, br;
for (int y = 0; y < depthHeight; y++)
{
for (int x = 0; x < depthWidth; 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;
col[pointIndex].a = 255;
col[pointIndex].b = colorArray[pointIndex].B;
col[pointIndex].g = colorArray[pointIndex].G;
col[pointIndex].r = colorArray[pointIndex].R;
if (x != (depthWidth - 1) && y != (depthHeight - 1))
{
topLeft = pointIndex;
topRight = topLeft + 1;
bottomLeft = topLeft + depthWidth;
bottomRight = bottomLeft + 1;
tl = PointCloud[topLeft].Z;
tr = PointCloud[topRight].Z;
bl = PointCloud[bottomLeft].Z;
br = PointCloud[bottomRight].Z;
if (tl > nearClip && tr > nearClip && bl > nearClip)
{
indeces[triangleIndex++] = topLeft;
indeces[triangleIndex++] = topRight;
indeces[triangleIndex++] = bottomLeft;
}
else
{
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
}
if (bl > nearClip && tr > nearClip && br > nearClip)
{
indeces[triangleIndex++] = bottomLeft;
indeces[triangleIndex++] = topRight;
indeces[triangleIndex++] = bottomRight;
}
else
{
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
}
}
pointIndex++;
}
}
texture.SetPixels32(col);
texture.Apply();
mesh.vertices = vertices;
mesh.triangles = indeces;
mesh.RecalculateBounds();
}
}
}
}
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SampleProject/Assets/Scripts/MeshScript.cs
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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Microsoft.Azure.Kinect.Sensor;
using System.Threading.Tasks;
public class MeshScript : MonoBehaviour
{
//Variable for handling Kinect
Device kinect;
//Width and Height of Depth image.
int depthWidth;
int depthHeight;
//Number of all points of PointCloud
int num;
//Used to draw a set of points
Mesh mesh;
//Array of coordinates for each point in PointCloud
Vector3[] vertices;
//Array of colors corresponding to each point in PointCloud
Color32[] colors;
//List of indexes of points to be rendered
int[] indeces;
//Color image to be attatched to mesh
Texture2D texture;
//Class for coordinate transformation(e.g.Color-to-depth, depth-to-xyz, etc.)
Transformation transformation;
int nearClip = 300;
//Stop Kinect as soon as this object disappear
private void OnDestroy()
{
kinect.StopCameras();
}
void Start()
{
//The method to initialize Kinect
InitKinect();
//Initialization for colored mesh rendering
InitMesh();
//Loop to get data from Kinect and rendering
Task t = KinectLoop(kinect);
}
//Initialization of Kinect
void InitKinect()
{
//Connect with the 0th Kinect
kinect = Device.Open(0);
//Setting the Kinect operation mode and starting it
kinect.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.NFOV_2x2Binned,
SynchronizedImagesOnly = true,
CameraFPS = FPS.FPS30,
});
//Access to coordinate transformation information
transformation = kinect.GetCalibration().CreateTransformation();
}
//Prepare to draw colored mesh
void InitMesh()
{
//Get the width and height of the Depth image and calculate the number of all points
depthWidth = kinect.GetCalibration().DepthCameraCalibration.ResolutionWidth;
depthHeight = kinect.GetCalibration().DepthCameraCalibration.ResolutionHeight;
num = depthWidth * depthHeight;
//Instantiate mesh
mesh = new Mesh();
mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
//Allocation of vertex and color storage space for the total number of pixels in the depth image
vertices = new Vector3[num];
colors = new Color32[num];
texture = new Texture2D(depthWidth, depthHeight);
Vector2[] uv = new Vector2[num];
Vector3[] normals = new Vector3[num];
indeces = new int[6 * (depthWidth - 1) * (depthHeight - 1)];
//Initialization of uv and normal
int index = 0;
for (int y = 0; y < depthHeight; y++)
{
for (int x = 0; x < 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++;
}
}
//Allocate a list of point coordinates, colors, and points to be drawn to mesh
mesh.vertices = vertices;
mesh.uv = uv;
mesh.normals = normals;
gameObject.GetComponent<MeshRenderer>().materials[0].mainTexture = texture;
gameObject.GetComponent<MeshFilter>().mesh = mesh;
}
private async Task KinectLoop(Device device)
{
while (true)
{
using (Capture capture = await Task.Run(() => device.GetCapture()).ConfigureAwait(true))
{
//Getting color information
Image modifiedColor = transformation.ColorImageToDepthCamera(capture);
BGRA[] colorArray = modifiedColor.GetPixels<BGRA>().ToArray();
//Getting vertices of point cloud
Image cloudImage = transformation.DepthImageToPointCloud(capture.Depth);
Short3[] PointCloud = cloudImage.GetPixels<Short3>().ToArray();
int triangleIndex = 0;
int pointIndex = 0;
int topLeft, topRight, bottomLeft, bottomRight;
int tl, tr, bl, br;
for (int y = 0; y < depthHeight; y++)
{
for (int x = 0; x < depthWidth; 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;
colors[pointIndex].a = 255;
colors[pointIndex].b = colorArray[pointIndex].B;
colors[pointIndex].g = colorArray[pointIndex].G;
colors[pointIndex].r = colorArray[pointIndex].R;
if (x != (depthWidth - 1) && y != (depthHeight - 1))
{
topLeft = pointIndex;
topRight = topLeft + 1;
bottomLeft = topLeft + depthWidth;
bottomRight = bottomLeft + 1;
tl = PointCloud[topLeft].Z;
tr = PointCloud[topRight].Z;
bl = PointCloud[bottomLeft].Z;
br = PointCloud[bottomRight].Z;
if (tl > nearClip && tr > nearClip && bl > nearClip)
{
indeces[triangleIndex++] = topLeft;
indeces[triangleIndex++] = topRight;
indeces[triangleIndex++] = bottomLeft;
}
else
{
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
}
if (bl > nearClip && tr > nearClip && br > nearClip)
{
indeces[triangleIndex++] = bottomLeft;
indeces[triangleIndex++] = topRight;
indeces[triangleIndex++] = bottomRight;
}
else
{
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
indeces[triangleIndex++] = 0;
}
}
pointIndex++;
}
}
texture.SetPixels32(colors);
texture.Apply();
mesh.vertices = vertices;
mesh.triangles = indeces;
mesh.RecalculateBounds();
}
}
}
}
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SampleProject/Assets/Scripts/PointCloudScript.cs
+123
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using Microsoft.Azure.Kinect.Sensor;
using System.Collections;
using System.Collections.Generic;
using System.Threading.Tasks;
using UnityEngine;
public class PointCloudScript : MonoBehaviour
{
//Variable for handling Kinect
Device kinect;
//Number of all points of PointCloud
int num;
//Used to draw a set of points
Mesh mesh;
//Array of coordinates for each point in PointCloud
Vector3[] vertices;
//Array of colors corresponding to each point in PointCloud
Color32[] colors;
//List of indexes of points to be rendered
int[] indices;
//Class for coordinate transformation(e.g.Color-to-depth, depth-to-xyz, etc.)
Transformation transformation;
void Start()
{
//The method to initialize Kinect
InitKinect();
//Initialization for point cloud rendering
InitMesh();
//Loop to get data from Kinect and rendering
Task t = KinectLoop();
}
//Initialization of Kinect
private void InitKinect()
{
//Connect with the 0th Kinect
kinect = Device.Open(0);
//Setting the Kinect operation mode and starting it
kinect.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.NFOV_Unbinned,
SynchronizedImagesOnly = true,
CameraFPS = FPS.FPS30
});
//Access to coordinate transformation information
transformation = kinect.GetCalibration().CreateTransformation();
}
//Prepare to draw point cloud.
private void InitMesh()
{
//Get the width and height of the Depth image and calculate the number of all points
int width = kinect.GetCalibration().DepthCameraCalibration.ResolutionWidth;
int height = kinect.GetCalibration().DepthCameraCalibration.ResolutionHeight;
num = width * height;
//Instantiate mesh
mesh = new Mesh();
mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
//Allocation of vertex and color storage space for the total number of pixels in the depth image
vertices = new Vector3[num];
colors = new Color32[num];
indices = new int[num];
//Initialization of index list
for (int i = 0; i < num; i++)
{
indices[i] = i;
}
//Allocate a list of point coordinates, colors, and points to be drawn to mesh
mesh.vertices = vertices;
mesh.colors32 = colors;
mesh.SetIndices(indices, MeshTopology.Points, 0);
gameObject.GetComponent<MeshFilter>().mesh = mesh;
}
private async Task KinectLoop()
{
while (true)
{
using (Capture capture = await Task.Run(() => kinect.GetCapture()).ConfigureAwait(true))
{
//Getting color information
Image colorImage = transformation.ColorImageToDepthCamera(capture);
BGRA[] colorArray = colorImage.GetPixels<BGRA>().ToArray();
//Getting vertices of point cloud
Image xyzImage = transformation.DepthImageToPointCloud(capture.Depth);
Short3[] xyzArray = xyzImage.GetPixels<Short3>().ToArray();
for (int i = 0; i < num; i++)
{
vertices[i].x = xyzArray[i].X * 0.001f;
vertices[i].y = -xyzArray[i].Y * 0.001f;//上下反転
vertices[i].z = xyzArray[i].Z * 0.001f;
colors[i].b = colorArray[i].B;
colors[i].g = colorArray[i].G;
colors[i].r = colorArray[i].R;
colors[i].a = 255;
}
mesh.vertices = vertices;
mesh.colors32 = colors;
mesh.RecalculateBounds();
}
}
}
//Stop Kinect as soon as this object disappear
private void OnDestroy()
{
kinect.StopCameras();
}
}
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SampleProject/LICENSE
+21
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MIT License
Copyright (c) 2019 Takashi Yoshinaga
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
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# Azure-Kinect-Unity-Sample
(1) Clone official SDK repository.<br>
https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/docs
(2) Build Projects with Visual Studio by referring to the following guide.<br>
https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/building.md#building-using-visual-studio
(3) Build C# Wrapper.<br>
https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/building.md#c-wrapper
<br><b>depthengine_2_0.dll</b> is required to build C# wrapper. Please copy depthengine_2_0.dll from the directory which Azure Kinect SDK is installed.
(4) Install dll files into Unity Project.<br>
Find following directory and copy all files into <b>Plugins</b> folder of this Uity Smaple.<br>
<i>C:\YOUR DIRECTORY\Azure-Kinect-Sensor-SDK\build\Win-x64-Release-Ninja\bin\Release\x64\Microsoft.Azure.Kinect.Sensor.Examples.WinForms </i>
(5) You can test following demo.<br>
[![](https://img.youtube.com/vi/Nt0oMN5Ece0/0.jpg)](https://www.youtube.com/watch?v=Nt0oMN5Ece0)