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491 lines
20 KiB
491 lines
20 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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namespace com.rfilkov.components
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{
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/// <summary>
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/// SceneMeshRenderer renders virtual mesh of the environment in the scene, as detected by the given sensor.
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/// </summary>
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public class SceneMeshRenderer : 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("Resolution of the images used to generate the scene.")]
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private DepthSensorBase.PointCloudResolution sourceImageResolution = DepthSensorBase.PointCloudResolution.DepthCameraResolution;
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[Tooltip("Whether to show the mesh as point cloud, or as solid mesh.")]
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public bool showAsPointCloud = true;
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[Tooltip("Horizontal limit - minimum, in meters.")]
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[Range(-5f, 5f)]
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public float xMin = -2f;
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[Tooltip("Horizontal limit - maximum, in meters.")]
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[Range(-5f, 5f)]
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public float xMax = 2f;
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[Tooltip("Vertical limit - minimum, in meters.")]
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[Range(-5f, 5f)]
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public float yMin = -2f;
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[Tooltip("Vertical limit - maximum, in meters.")]
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[Range(-5f, 5f)]
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public float yMax = 2f;
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[Tooltip("Distance limit - minimum, in meters.")]
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[Range(0.5f, 10f)]
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public float zMin = 1f;
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[Tooltip("Distance limit - maximum, in meters.")]
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[Range(0.5f, 10f)]
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public float zMax = 3f;
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[Tooltip("Time interval between scene mesh updates, in seconds. 0 means no wait.")]
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public float updateMeshInterval = 0f;
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//[Tooltip("Whether to include the detected players to the scene mesh or not.")]
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//private bool includePlayers = true;
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//[Tooltip("Whether to update the mesh, only when there are no players detected.")]
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//private bool updateWhenNoPlayers = false;
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//[Tooltip("Whether to update the mesh collider as well, when the user mesh changes.")]
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//public bool updateMeshCollider = false;
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[Tooltip("Time interval between mesh-collider updates, in seconds. 0 means no mesh-collider updates.")]
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public float updateColliderInterval = 0f;
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// reference to object's mesh
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private Mesh mesh = null;
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// references to KM and data
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private KinectManager kinectManager = null;
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private KinectInterop.SensorData sensorData = null;
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private DepthSensorBase sensorInt = null;
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private Vector3 spaceScale = Vector3.zero;
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// render textures
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private RenderTexture colorTexture = null;
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private RenderTexture colorTextureBuildMesh = null;
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private RenderTexture colorTextureUpdateMesh = null;
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private bool colorTextureCreated = false;
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private bool bColorCamRes = false;
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private ushort[] tDepthImage = null;
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// times
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private ulong lastSpaceCoordsTime = 0;
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private float lastMeshUpdateTime = 0f;
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private float lastColliderUpdateTime = 0f;
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private int minDepth = 0;
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private int maxDepth = 0;
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// image parameters
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private int imageWidth = 0;
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private int imageHeight = 0;
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// mesh parameters
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private Vector3[] spaceTable = null;
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private Vector3[] meshVertices = null;
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private int[] meshIndices = null;
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private byte[] meshVertUsed = null;
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private bool bMeshInited = false;
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// thread parameters
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private System.Threading.Thread buildMeshThread = null;
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private bool bStopThread = false;
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private bool bBuildMesh = false;
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private bool bUpdateMesh = false;
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void Start()
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{
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// get sensor data
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kinectManager = KinectManager.Instance;
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sensorData = (kinectManager != null && kinectManager.IsInitialized()) ? kinectManager.GetSensorData(sensorIndex) : null;
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buildMeshThread = new System.Threading.Thread(new System.Threading.ThreadStart(BuildMesh));
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buildMeshThread.IsBackground = true;
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buildMeshThread.Start();
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}
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void OnDestroy()
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{
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if (buildMeshThread != null)
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{
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// stop the thread
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bStopThread = true;
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buildMeshThread.Join();
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buildMeshThread = null;
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}
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if (bMeshInited)
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{
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// release the mesh-related resources
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FinishMesh();
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}
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}
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void LateUpdate()
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{
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if(mesh == null && sensorData != null && sensorData.depthCamIntr != null)
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{
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// init mesh and its related data
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InitMesh();
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}
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if (bMeshInited)
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{
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// min & max depth
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minDepth = Mathf.RoundToInt(zMin * 1000f);
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maxDepth = Mathf.RoundToInt(zMax * 1000f);
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// update the mesh
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UpdateMesh();
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}
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}
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// inits the mesh and related data
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private void InitMesh()
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{
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// create mesh
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mesh = new Mesh
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{
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name = "SceneMesh-Sensor" + sensorIndex,
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indexFormat = UnityEngine.Rendering.IndexFormat.UInt32
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};
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MeshFilter meshFilter = GetComponent<MeshFilter>();
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if(meshFilter != null)
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{
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meshFilter.mesh = mesh;
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}
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else
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{
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Debug.LogWarning("MeshFilter not found! You may not see the mesh on screen");
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}
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if (sensorData != null && sensorData.sensorInterface != null)
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{
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sensorInt = (DepthSensorBase)sensorData.sensorInterface;
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Vector2Int imageRes = Vector2Int.zero;
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if (sensorInt.pointCloudColorTexture == null)
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{
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sensorInt.pointCloudResolution = sourceImageResolution;
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imageRes = sensorInt.GetPointCloudTexResolution(sensorData);
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colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
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sensorInt.pointCloudColorTexture = colorTexture;
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colorTextureCreated = true;
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}
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else
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{
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imageRes = sensorInt.GetPointCloudTexResolution(sensorData);
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colorTexture = sensorInt.pointCloudColorTexture;
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colorTextureCreated = false;
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}
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bColorCamRes = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.ColorCameraResolution;
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if (bColorCamRes)
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{
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// enable transformed depth frame
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tDepthImage = new ushort[sensorData.colorImageWidth * sensorData.colorImageHeight];
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, true);
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}
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else
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{
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tDepthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight];
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}
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// create copy textures
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colorTextureBuildMesh = KinectInterop.CreateRenderTexture(colorTextureBuildMesh, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
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colorTextureUpdateMesh = KinectInterop.CreateRenderTexture(colorTextureUpdateMesh, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
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// set the color texture
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Renderer meshRenderer = GetComponent<Renderer>();
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if (meshRenderer && meshRenderer.material && meshRenderer.material.mainTexture == null)
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{
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meshRenderer.material.mainTexture = colorTextureUpdateMesh; // sensorInt.pointCloudColorTexture;
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//meshRenderer.material.SetTextureScale("_MainTex", kinectManager.GetColorImageScale(sensorIndex));
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}
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// image width & height
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imageWidth = imageRes.x;
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imageHeight = imageRes.y;
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int pointCount = imageWidth * imageHeight;
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// mesh arrays
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meshVertices = new Vector3[pointCount];
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meshIndices = new int[6 * pointCount]; // 2 triangles per vertex, last row and column excluded
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meshVertUsed = new byte[pointCount];
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spaceScale = kinectManager.GetSensorSpaceScale(sensorIndex);
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// create space table
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spaceTable = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ?
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sensorInt.GetDepthCameraSpaceTable(sensorData) : sensorInt.GetColorCameraSpaceTable(sensorData);
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// init mesh uv array
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Vector2[] meshUv = new Vector2[pointCount];
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for (int y = 0, i = 0; y < imageHeight; y++)
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{
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for (int x = 0; x < imageWidth; x++, i++)
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{
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Vector2 imagePos = new Vector2(x, y);
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meshUv[i] = new Vector2(imagePos.x / imageWidth, imagePos.y / imageHeight);
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}
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}
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mesh.vertices = meshVertices;
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mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0);
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mesh.uv = meshUv;
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if(showAsPointCloud)
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{
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meshIndices = new int[pointCount];
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for (int i = 0; i < pointCount; i++)
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meshIndices[i] = i;
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mesh.SetIndices(meshIndices, MeshTopology.Points, 0);
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}
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bMeshInited = true;
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}
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}
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// releases mesh-related resources
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private void FinishMesh()
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{
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if (sensorInt)
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{
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if (sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.ColorCameraResolution)
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{
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sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, false);
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}
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sensorInt.pointCloudColorTexture = null;
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}
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if (colorTexture && colorTextureCreated)
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{
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colorTexture.Release();
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colorTexture = null;
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}
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if (colorTextureBuildMesh)
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{
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colorTextureBuildMesh.Release();
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colorTextureBuildMesh = null;
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}
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if (colorTextureUpdateMesh)
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{
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colorTextureUpdateMesh.Release();
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colorTextureUpdateMesh = null;
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}
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spaceTable = null;
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tDepthImage = null;
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meshVertices = null;
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meshIndices = null;
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meshVertUsed = null;
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bMeshInited = false;
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}
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// updates the mesh according to current depth frame
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private void UpdateMesh()
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{
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// check for players
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//bool bHavePlayers = kinectManager.GetUsersCount() != 0;
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if (!bBuildMesh && (Time.time - lastMeshUpdateTime) >= updateMeshInterval /**&& (!updateWhenNoPlayers || !bHavePlayers)*/)
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{
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lastMeshUpdateTime = Time.time;
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// copy the texture
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Graphics.CopyTexture(colorTexture, colorTextureBuildMesh);
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if (bColorCamRes)
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{
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// get transformed depth frame, if needed
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ulong frameTime = 0;
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sensorData.sensorInterface.GetColorCameraDepthFrame(sensorData, ref tDepthImage, ref frameTime);
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//Debug.Log("UpdateMesh - color time: " + sensorData.lastColorFrameTime + ", tdepth time: " + frameTime);
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}
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else
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{
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// copy depth frame
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KinectInterop.CopyBytes(sensorData.depthImage, sizeof(ushort), tDepthImage, sizeof(ushort));
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//Debug.Log("UpdateMesh - tcolor time: " + sensorData.lastDepthCamColorFrameTime + ", depth time: " + sensorData.lastDepthFrameTime);
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}
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bBuildMesh = true;
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}
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if (bUpdateMesh)
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{
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Graphics.CopyTexture(colorTextureBuildMesh, colorTextureUpdateMesh);
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mesh.vertices = meshVertices;
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if(!showAsPointCloud)
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{
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mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0);
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}
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mesh.RecalculateBounds();
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bUpdateMesh = false;
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//Debug.Log("Mesh updated.");
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if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval)
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{
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lastColliderUpdateTime = Time.time;
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MeshCollider meshCollider = GetComponent<MeshCollider>();
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if (meshCollider)
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{
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meshCollider.sharedMesh = null;
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meshCollider.sharedMesh = mesh;
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}
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}
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}
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}
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// builds the mesh according to the current
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private void BuildMesh()
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{
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while (!bStopThread)
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{
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if (!bUpdateMesh)
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{
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if (bMeshInited && sensorData.depthImage != null && lastSpaceCoordsTime != sensorData.lastDepthFrameTime)
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{
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if (bBuildMesh)
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{
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lastSpaceCoordsTime = sensorData.lastDepthFrameTime;
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try
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{
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int imageWidth1 = imageWidth - 1, imageHeight1 = imageHeight - 1;
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const int maxDistMm = 200; // max distance between vertices in a triangle, in mm
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if (!showAsPointCloud)
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{
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System.Array.Clear(meshIndices, 0, meshIndices.Length);
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System.Array.Clear(meshVertUsed, 0, meshVertUsed.Length);
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}
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for (int y = 0, di = 0, ti = 0; y < imageHeight; y++)
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{
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for (int x = 0; x < imageWidth; x++, di++, ti += 6)
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{
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ushort depth = tDepthImage != null ? tDepthImage[di] : (ushort)0;
|
||
|
|
//bool isValidBodyPixel = !includePlayers && bHavePlayers ? sensorData.bodyIndexImage[di] == 255 : true;
|
||
|
|
|
||
|
|
bool bVertexSet = false;
|
||
|
|
if (depth >= minDepth && depth <= maxDepth /**&& isValidBodyPixel*/)
|
||
|
|
{
|
||
|
|
float fDepth = (float)depth * 0.001f;
|
||
|
|
Vector3 vVertex = new Vector3(spaceTable[di].x * fDepth * spaceScale.x, spaceTable[di].y * fDepth * spaceScale.y, fDepth);
|
||
|
|
|
||
|
|
bool bUsedVertex = !showAsPointCloud && meshVertUsed[di] != 0;
|
||
|
|
if (bUsedVertex || (vVertex.x >= xMin && vVertex.x <= xMax && vVertex.y >= yMin && vVertex.y <= yMax))
|
||
|
|
{
|
||
|
|
meshVertices[di] = vVertex;
|
||
|
|
|
||
|
|
if (!showAsPointCloud)
|
||
|
|
{
|
||
|
|
meshVertUsed[di] = 1;
|
||
|
|
|
||
|
|
if (x < imageWidth1 && y < imageHeight1)
|
||
|
|
{
|
||
|
|
int tl = di; ushort tld = depth;
|
||
|
|
int tr = tl + 1; ushort trd = tDepthImage != null ? tDepthImage[tr] : (ushort)0;
|
||
|
|
int bl = tl + imageWidth; ushort bld = tDepthImage != null ? tDepthImage[bl] : (ushort)0;
|
||
|
|
int br = bl + 1; ushort brd = tDepthImage != null ? tDepthImage[br] : (ushort)0;
|
||
|
|
|
||
|
|
float fBrDepth = (float)brd * 0.001f;
|
||
|
|
Vector3 vVertex2 = new Vector3(spaceTable[br].x * fBrDepth * spaceScale.x, spaceTable[di].y * fBrDepth * spaceScale.y, fBrDepth);
|
||
|
|
|
||
|
|
// 1st triangle
|
||
|
|
if (tld >= minDepth && tld <= maxDepth &&
|
||
|
|
trd >= minDepth && trd <= maxDepth &&
|
||
|
|
bld >= minDepth && bld <= maxDepth &&
|
||
|
|
vVertex2.x >= xMin && vVertex2.x <= xMax && vVertex2.y >= yMin && vVertex2.y <= yMax &&
|
||
|
|
Mathf.Abs(trd - tld) < maxDistMm && Mathf.Abs(bld - tld) < maxDistMm)
|
||
|
|
{
|
||
|
|
meshIndices[ti] = bl;
|
||
|
|
meshIndices[ti + 1] = tr;
|
||
|
|
meshIndices[ti + 2] = tl;
|
||
|
|
meshVertUsed[tr] = meshVertUsed[bl] = 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
// 2nd triangle
|
||
|
|
if (bld >= minDepth && bld <= maxDepth &&
|
||
|
|
trd >= minDepth && trd <= maxDepth &&
|
||
|
|
brd >= minDepth && brd <= maxDepth &&
|
||
|
|
vVertex2.x >= xMin && vVertex2.x <= xMax && vVertex2.y >= yMin && vVertex2.y <= yMax &&
|
||
|
|
Mathf.Abs(trd - bld) < maxDistMm && Mathf.Abs(brd - bld) < maxDistMm)
|
||
|
|
{
|
||
|
|
meshIndices[ti + 3] = br;
|
||
|
|
meshIndices[ti + 4] = tr;
|
||
|
|
meshIndices[ti + 5] = bl;
|
||
|
|
meshVertUsed[bl] = meshVertUsed[tr] = meshVertUsed[br] = 1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
bVertexSet = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!bVertexSet)
|
||
|
|
{
|
||
|
|
meshVertices[di] = Vector3.zero;
|
||
|
|
|
||
|
|
if (!showAsPointCloud)
|
||
|
|
{
|
||
|
|
if (meshVertUsed[di] != 0)
|
||
|
|
{
|
||
|
|
float fDepth = (float)depth * 0.001f;
|
||
|
|
Vector3 vVertex = new Vector3(spaceTable[di].x * fDepth * spaceScale.x, spaceTable[di].y * fDepth * spaceScale.y, fDepth);
|
||
|
|
meshVertices[di] = vVertex;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
bBuildMesh = false;
|
||
|
|
bUpdateMesh = true;
|
||
|
|
//Debug.Log("Mesh built.");
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
Debug.LogException(ex);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
System.Threading.Thread.Sleep(KinectInterop.THREAD_SLEEP_TIME_MS);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|