Modified program for SDK1.4.1 and added Point Cloud Sample

2026-10-11 21:39:58 +00:00 · 2020-08-02 10:31:49 +09:00
parent bafece63e7
commit 77bf33fa61
2269 changed files with 49 additions and 78440 deletions
@@ -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;
+    //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();
+    }
+
+}