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281 lines
12 KiB
281 lines
12 KiB
1 year ago
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using UnityEngine;
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using System.Collections;
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using com.rfilkov.kinect;
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using System;
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namespace com.rfilkov.components
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{
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/// <summary>
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/// BackgroundColorCamDepthImage is component that displays the color camera aligned depth image on RawImage texture, usually the scene background.
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/// </summary>
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public class BackgroundColorCamDepthImage : MonoBehaviour
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{
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[Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
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public int sensorIndex = 0;
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[Tooltip("RawImage used to display the color camera feed.")]
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public UnityEngine.UI.RawImage backgroundImage;
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[Tooltip("Camera used to display the background image. Set it, if you'd like to allow background image to resize, to match the color image's aspect ratio.")]
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public Camera backgroundCamera;
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// last camera rect width & height
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private float lastCamRectW = 0;
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private float lastCamRectH = 0;
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// reference to the kinectManager
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private KinectManager kinectManager = null;
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private KinectInterop.SensorData sensorData = null;
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private Vector2 initialAnchorPos = Vector2.zero;
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// color-camera aligned frames
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private ulong lastColorCamDepthFrameTime = 0;
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// color-camera aligned texture and buffers
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private RenderTexture depthImageTexture = null;
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private Material depthImageMaterial = null;
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private ComputeBuffer depthImageBuffer = null;
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private ComputeBuffer depthHistBuffer = null;
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// depth image hist data
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protected int[] depthHistBufferData = null;
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protected int[] equalHistBufferData = null;
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protected int depthHistTotalPoints = 0;
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void Start()
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{
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if (backgroundImage == null)
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{
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backgroundImage = GetComponent<UnityEngine.UI.RawImage>();
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}
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kinectManager = KinectManager.Instance;
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sensorData = kinectManager != null ? kinectManager.GetSensorData(sensorIndex) : null;
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if(sensorData != null)
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{
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// enable color camera aligned depth frames
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, true);
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// create the output texture and needed buffers
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depthImageTexture = KinectInterop.CreateRenderTexture(depthImageTexture, sensorData.colorImageWidth, sensorData.colorImageHeight);
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depthImageMaterial = new Material(Shader.Find("Kinect/DepthHistImageShader"));
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//int depthBufferLength = sensorData.colorImageWidth * sensorData.colorImageHeight >> 1;
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//depthImageBuffer = KinectInterop.CreateComputeBuffer(depthImageBuffer, depthBufferLength, sizeof(uint));
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depthHistBuffer = KinectInterop.CreateComputeBuffer(depthHistBuffer, DepthSensorBase.MAX_DEPTH_DISTANCE_MM + 1, sizeof(int));
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depthHistBufferData = new int[DepthSensorBase.MAX_DEPTH_DISTANCE_MM + 1];
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equalHistBufferData = new int[DepthSensorBase.MAX_DEPTH_DISTANCE_MM + 1];
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}
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}
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void OnDestroy()
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{
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if (depthImageTexture)
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{
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depthImageTexture.Release();
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depthImageTexture = null;
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}
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if (depthImageBuffer != null)
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{
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depthImageBuffer.Dispose();
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depthImageBuffer = null;
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}
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if (depthHistBuffer != null)
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{
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depthHistBuffer.Dispose();
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depthHistBuffer = null;
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}
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if (sensorData != null)
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{
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// disable color camera aligned depth frames
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, false);
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}
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}
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void Update()
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{
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if (kinectManager && kinectManager.IsInitialized())
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{
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float cameraWidth = backgroundCamera ? backgroundCamera.pixelRect.width : 0f;
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float cameraHeight = backgroundCamera ? backgroundCamera.pixelRect.height : 0f;
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// check for new color camera aligned frames
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UpdateTextureWithNewFrame();
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if (backgroundImage && depthImageTexture != null && (backgroundImage.texture == null ||
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backgroundImage.texture.width != depthImageTexture.width || backgroundImage.texture.height != depthImageTexture.height ||
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lastCamRectW != cameraWidth || lastCamRectH != cameraHeight))
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{
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lastCamRectW = cameraWidth;
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lastCamRectH = cameraHeight;
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// enable color camera aligned depth frames
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sensorData = kinectManager.GetSensorData(sensorIndex); // sensor data may be re-created after sensor-int restart
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, true);
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// set background texture
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backgroundImage.texture = depthImageTexture;
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backgroundImage.rectTransform.localScale = sensorData.colorImageScale; // kinectManager.GetColorImageScale(sensorIndex);
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backgroundImage.color = Color.white;
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if (backgroundCamera != null)
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{
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// adjust image's size and position to match the stream aspect ratio
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int colorImageWidth = sensorData.colorImageWidth; // kinectManager.GetColorImageWidth(sensorIndex);
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int colorImageHeight = sensorData.colorImageHeight; // kinectManager.GetColorImageHeight(sensorIndex);
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if (colorImageWidth == 0 || colorImageHeight == 0)
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return;
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RectTransform rectImage = backgroundImage.rectTransform;
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float rectWidth = (rectImage.anchorMin.x != rectImage.anchorMax.x) ? cameraWidth * (rectImage.anchorMax.x - rectImage.anchorMin.x) : rectImage.sizeDelta.x;
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float rectHeight = (rectImage.anchorMin.y != rectImage.anchorMax.y) ? cameraHeight * (rectImage.anchorMax.y - rectImage.anchorMin.y) : rectImage.sizeDelta.y;
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if (colorImageWidth > colorImageHeight)
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rectWidth = rectHeight * colorImageWidth / colorImageHeight;
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else
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rectHeight = rectWidth * colorImageHeight / colorImageWidth;
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Vector2 pivotOffset = (rectImage.pivot - new Vector2(0.5f, 0.5f)) * 2f;
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Vector2 imageScale = sensorData.colorImageScale; // (Vector2)kinectManager.GetColorImageScale(sensorIndex);
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Vector2 anchorPos = rectImage.anchoredPosition + pivotOffset * imageScale * new Vector2(rectWidth, rectHeight);
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if (rectImage.anchorMin.x != rectImage.anchorMax.x)
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{
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rectWidth = -(cameraWidth - rectWidth);
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}
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if (rectImage.anchorMin.y != rectImage.anchorMax.y)
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{
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rectHeight = -(cameraHeight - rectHeight);
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}
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rectImage.sizeDelta = new Vector2(rectWidth, rectHeight);
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rectImage.anchoredPosition = initialAnchorPos = anchorPos;
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}
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}
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//if (backgroundImage)
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//{
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// // update the anchor position, if needed
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// if (sensorData != null && sensorData.sensorInterface != null)
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// {
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// Vector2 updatedAnchorPos = initialAnchorPos + sensorData.sensorInterface.GetBackgroundImageAnchorPos(sensorData);
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// if (backgroundImage.rectTransform.anchoredPosition != updatedAnchorPos)
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// {
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// backgroundImage.rectTransform.anchoredPosition = updatedAnchorPos;
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// }
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// }
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//}
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}
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else
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{
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// reset the background texture, if needed
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if (backgroundImage && backgroundImage.texture != null)
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{
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backgroundImage.texture = null;
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// disable color camera aligned depth frames
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if(sensorData != null && sensorData.sensorInterface != null)
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{
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, false);
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}
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}
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}
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//RectTransform rectTransform = backgroundImage.rectTransform;
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//Debug.Log("pivot: " + rectTransform.pivot + ", anchorPos: " + rectTransform.anchoredPosition + ", \nanchorMin: " + rectTransform.anchorMin + ", anchorMax: " + rectTransform.anchorMax);
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}
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// checks for new color-camera aligned frames, and composes an updated body-index texture, if needed
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private void UpdateTextureWithNewFrame()
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{
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if (sensorData == null || sensorData.sensorInterface == null || sensorData.colorCamDepthImage == null)
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return;
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// get the updated depth frame
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if (lastColorCamDepthFrameTime != sensorData.lastColorCamDepthFrameTime)
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{
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lastColorCamDepthFrameTime = sensorData.lastColorCamDepthFrameTime;
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if (depthImageTexture.width != sensorData.colorImageWidth || depthImageTexture.height != sensorData.colorImageHeight)
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{
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depthImageTexture = KinectInterop.CreateRenderTexture(depthImageTexture, sensorData.colorImageWidth, sensorData.colorImageHeight);
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}
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Array.Clear(depthHistBufferData, 0, depthHistBufferData.Length);
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Array.Clear(equalHistBufferData, 0, equalHistBufferData.Length);
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depthHistTotalPoints = 0;
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// get configured min & max distances
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float minDistance = ((DepthSensorBase)sensorData.sensorInterface).minDepthDistance;
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float maxDistance = ((DepthSensorBase)sensorData.sensorInterface).maxDepthDistance;
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int depthMinDistance = (int)(minDistance * 1000f);
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int depthMaxDistance = (int)(maxDistance * 1000f);
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int frameLen = sensorData.colorCamDepthImage.Length;
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for (int i = 0; i < frameLen; i++)
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{
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int depth = sensorData.colorCamDepthImage[i];
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int limDepth = (depth <= DepthSensorBase.MAX_DEPTH_DISTANCE_MM) ? depth : 0;
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if (limDepth > 0)
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{
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depthHistBufferData[limDepth]++;
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depthHistTotalPoints++;
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}
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}
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equalHistBufferData[0] = depthHistBufferData[0];
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for (int i = 1; i < depthHistBufferData.Length; i++)
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{
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equalHistBufferData[i] = equalHistBufferData[i - 1] + depthHistBufferData[i];
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}
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// make depth 0 equal to the max-depth
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equalHistBufferData[0] = equalHistBufferData[equalHistBufferData.Length - 1];
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int depthBufferLength = sensorData.colorCamDepthImage.Length >> 1;
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if(depthImageBuffer == null || depthImageBuffer.count != depthBufferLength)
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{
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depthImageBuffer = KinectInterop.CreateComputeBuffer(depthImageBuffer, depthBufferLength, sizeof(uint));
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}
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KinectInterop.SetComputeBufferData(depthImageBuffer, sensorData.colorCamDepthImage, depthBufferLength, sizeof(uint));
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if (depthHistBuffer != null)
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{
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KinectInterop.SetComputeBufferData(depthHistBuffer, equalHistBufferData, equalHistBufferData.Length, sizeof(int));
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}
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depthImageMaterial.SetInt("_TexResX", sensorData.colorImageWidth);
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depthImageMaterial.SetInt("_TexResY", sensorData.colorImageHeight);
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depthImageMaterial.SetInt("_MinDepth", depthMinDistance);
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depthImageMaterial.SetInt("_MaxDepth", depthMaxDistance);
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depthImageMaterial.SetBuffer("_DepthMap", depthImageBuffer);
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depthImageMaterial.SetBuffer("_HistMap", depthHistBuffer);
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depthImageMaterial.SetInt("_TotalPoints", depthHistTotalPoints);
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Graphics.Blit(null, depthImageTexture, depthImageMaterial);
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}
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}
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}
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}
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