mirror of
https://github.com/storytold/Azure-Kinect-Sample-for-Unity.git
synced 2026-10-13 23:53:23 +00:00
sample
This commit is contained in:
Takashi Yoshinaga
@@ -0,0 +1,355 @@
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@@ -0,0 +1,181 @@
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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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using System.Threading.Tasks;
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public class KinectScript : MonoBehaviour
|
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{
|
||||
int depthWidth;
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||||
int depthHeight;
|
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Transformation transformation;
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||||
Mesh mesh;
|
||||
int visNum;
|
||||
Vector3[] vertices;
|
||||
int[] vertexIndeces;
|
||||
|
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Color32[] col;
|
||||
Texture2D tex;
|
||||
Device device;
|
||||
int nearThreshold = 300;
|
||||
|
||||
private void OnDestroy()
|
||||
{
|
||||
device.StopCameras();
|
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}
|
||||
|
||||
void Start()
|
||||
{
|
||||
|
||||
InitKinect();
|
||||
|
||||
|
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InitRenderingInfo();
|
||||
|
||||
|
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Task t = KinectLoop(device);
|
||||
}
|
||||
void InitKinect()
|
||||
{
|
||||
device = Device.Open(0);
|
||||
device.StartCameras(new DeviceConfiguration
|
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{
|
||||
ColorFormat = ImageFormat.ColorBGRA32,
|
||||
ColorResolution = ColorResolution.R1080p,
|
||||
DepthMode = DepthMode.NFOV_Unbinned,
|
||||
SynchronizedImagesOnly = true,
|
||||
CameraFPS = FPS.FPS30,
|
||||
});
|
||||
|
||||
transformation = device.GetCalibration().CreateTransformation();
|
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|
||||
depthWidth = device.GetCalibration().DepthCameraCalibration.ResolutionWidth;
|
||||
depthHeight = device.GetCalibration().DepthCameraCalibration.ResolutionHeight;
|
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|
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|
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}
|
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void InitRenderingInfo()
|
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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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|
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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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vertices = new Vector3[visNum];
|
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Vector2[] uv = new Vector2[visNum];
|
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|
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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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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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}
|
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}
|
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|
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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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|
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gameObject.GetComponent<MeshFilter>().mesh = mesh;
|
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}
|
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|
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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();
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Reference in New Issue
Block a user