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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().materials[0].mainTexture = texture; + gameObject.GetComponent().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().ToArray(); + + //Getting vertices of point cloud + Image cloudImage = transformation.DepthImageToPointCloud(capture.Depth); + Short3[] PointCloud = cloudImage.GetPixels().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(); + } + } + } + +} diff --git a/Assets/Scripts/MeshScript.cs.meta b/Assets/Scripts/MeshScript.cs.meta new file mode 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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().mesh = mesh; + } + + private async Task KinectLoop() + { + while (true) + { 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+++ b/ProjectSettings/EditorSettings.asset @@ -3,19 +3,33 @@ --- !u!159 &1 EditorSettings: m_ObjectHideFlags: 0 - serializedVersion: 7 + serializedVersion: 9 m_ExternalVersionControlSupport: Visible Meta Files m_SerializationMode: 2 m_LineEndingsForNewScripts: 2 m_DefaultBehaviorMode: 0 + m_PrefabRegularEnvironment: {fileID: 0} + m_PrefabUIEnvironment: {fileID: 0} m_SpritePackerMode: 0 m_SpritePackerPaddingPower: 1 m_EtcTextureCompressorBehavior: 1 m_EtcTextureFastCompressor: 1 m_EtcTextureNormalCompressor: 2 m_EtcTextureBestCompressor: 4 - m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd + m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmref m_ProjectGenerationRootNamespace: - m_UserGeneratedProjectSuffix: m_CollabEditorSettings: inProgressEnabled: 1 + m_EnableTextureStreamingInEditMode: 1 + m_EnableTextureStreamingInPlayMode: 1 + m_AsyncShaderCompilation: 1 + m_EnterPlayModeOptionsEnabled: 0 + m_EnterPlayModeOptions: 3 + m_ShowLightmapResolutionOverlay: 1 + m_UseLegacyProbeSampleCount: 1 + m_AssetPipelineMode: 1 + m_CacheServerMode: 0 + m_CacheServerEndpoint: + m_CacheServerNamespacePrefix: default + m_CacheServerEnableDownload: 1 + m_CacheServerEnableUpload: 1 diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt index 3f8e52f..5d8f304 100644 --- a/ProjectSettings/ProjectVersion.txt +++ b/ProjectSettings/ProjectVersion.txt @@ -1 +1,2 @@ -m_EditorVersion: 2018.4.8f1 +m_EditorVersion: 2019.4.4f1 +m_EditorVersionWithRevision: 2019.4.4f1 (1f1dac67805b) diff --git a/ProjectSettings/XRSettings.asset b/ProjectSettings/XRSettings.asset new file mode 100644 index 0000000..482590c --- /dev/null +++ b/ProjectSettings/XRSettings.asset @@ -0,0 +1,10 @@ +{ + "m_SettingKeys": [ + "VR Device Disabled", + "VR Device User Alert" + ], + "m_SettingValues": [ + "False", + "False" + ] +} \ No newline at end of file