mirror of
https://github.com/storytold/Azure-Kinect-Sample-for-Unity.git
synced 2026-10-09 00:09:50 +00:00
Modified program for SDK1.4.1 and added Point Cloud Sample
This commit is contained in:
Takashi Yoshinaga
@@ -0,0 +1,355 @@
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@@ -0,0 +1,169 @@
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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;
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using System.Runtime.InteropServices;
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using System;
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using System.Threading.Tasks;
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public class KinectScript : MonoBehaviour
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{
|
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int depthWidth;
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int depthHeight;
|
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int pointNum;
|
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int nearClip = 300;
|
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|
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Mesh mesh;
|
||||
Vector3[] vertices;
|
||||
int[] indeces;
|
||||
Color32[] col;
|
||||
Texture2D texture;
|
||||
|
||||
Transformation transformation;
|
||||
Device device;
|
||||
|
||||
private void OnDestroy()
|
||||
{
|
||||
device.StopCameras();
|
||||
}
|
||||
|
||||
void Start()
|
||||
{
|
||||
InitKinect();
|
||||
InitMesh();
|
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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,
|
||||
});
|
||||
|
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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];
|
||||
|
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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++)
|
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{
|
||||
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();
|
||||
|
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using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using Microsoft.Azure.Kinect.Sensor;
|
||||
using System.Threading.Tasks;
|
||||
|
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public class MeshScript : MonoBehaviour
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{
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//Variable for handling Kinect
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||||
Device kinect;
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//Width and Height of Depth image.
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int depthWidth;
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||||
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
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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
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||||
private void OnDestroy()
|
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{
|
||||
kinect.StopCameras();
|
||||
}
|
||||
|
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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,
|
||||
});
|
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//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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@@ -0,0 +1,11 @@
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|
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|
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userData:
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assetBundleName:
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@@ -0,0 +1,123 @@
|
||||
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;
|
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//Array of colors corresponding to each point in PointCloud
|
||||
Color32[] colors;
|
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//List of indexes of points to be rendered
|
||||
int[] indices;
|
||||
//Class for coordinate transformation(e.g.Color-to-depth, depth-to-xyz, etc.)
|
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Transformation transformation;
|
||||
|
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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();
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: b4c9fe985d63ba74ab55f9606cef4357
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
Reference in New Issue
Block a user