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73 lines
2.7 KiB
73 lines
2.7 KiB
1 year ago
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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 com.rfilkov.kinect;
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namespace com.rfilkov.components
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{
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/// <summary>
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/// ScenePointCoordinates demonstrates how to get the scene point cloud coordinates as an array of Vector3
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/// </summary>
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public class ScenePointCoordinates : 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("Timestamp of the last update.")]
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public ulong lastUpdateTime = 0;
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// The point cloud coordinates
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[HideInInspector]
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public Vector3[] pointCloud = null;
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// reference to the KinectManager & sensor data
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private KinectManager kinectManager = null;
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private KinectInterop.SensorData sensorData = null;
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// space table
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private Vector3[] spaceTable = null;
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void Start()
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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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}
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void Update()
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{
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if (sensorData == null || sensorData.sensorInterface == null) // check if the sensor was initialized
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return;
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if (sensorData.depthImageWidth == 0 || sensorData.depthImageHeight == 0) // check if the depth stream was started
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return;
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// init or reinit the output array and the space table, as needed
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int numPoints = sensorData.depthImageWidth * sensorData.depthImageHeight;
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if (pointCloud == null || pointCloud.Length != numPoints)
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{
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pointCloud = new Vector3[numPoints];
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spaceTable = sensorData.sensorInterface.GetDepthCameraSpaceTable(sensorData);
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}
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// calculate the point cloud coordinates. this block is slow, but easily readable (I think it can be further optimized, if needed)
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if(spaceTable != null && sensorData.depthImage != null && lastUpdateTime != sensorData.lastDepthFrameTime)
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{
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lastUpdateTime = sensorData.lastDepthFrameTime;
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for(int i = 0; i < numPoints; i++)
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{
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float fDepth = (float)sensorData.depthImage[i] / 1000f;
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pointCloud[i] = spaceTable[i] * fDepth;
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}
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// show a sample at the center of the image. feel free to comment it out
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int iC = (sensorData.depthImageHeight >> 1) * sensorData.depthImageWidth + (sensorData.depthImageWidth >> 1);
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Debug.Log(string.Format("center values: {0:F2} {1:F2} {2:F2}", pointCloud[iC - 1], pointCloud[iC], pointCloud[iC + 1]));
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}
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}
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}
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}
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