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93 lines
4.0 KiB
93 lines
4.0 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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namespace com.rfilkov.kinect
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{
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/// <summary>
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/// BackgroundRemovalByDist filters part of the real environment, according to the given spatial limits.
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/// </summary>
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public class BackgroundRemovalByDist : MonoBehaviour
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{
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[Tooltip("Whether or not to apply the sensor pose to background removal estimation.")]
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public bool applySensorPose = true;
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[Space]
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[Tooltip("Horizontal limit - minimum, in meters.")]
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[Range(-5f, 5f)]
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public float xMin = -1.5f;
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[Tooltip("Horizontal limit - maximum, in meters.")]
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[Range(-5f, 5f)]
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public float xMax = 1.5f;
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[Tooltip("Vertical limit - minimum, in meters.")]
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[Range(-5f, 5f)]
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public float yMin = 0f;
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[Tooltip("Vertical limit - maximum, in meters.")]
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[Range(-5f, 5f)]
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public float yMax = 3f;
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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 = 0.5f;
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[Tooltip("Distance limit - maximum at the left end, in meters.")]
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[Range(0.5f, 10f)]
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public float zMaxLeft = 3f;
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[Tooltip("Distance limit - maximum at the right end, in meters.")]
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[Range(0.5f, 10f)]
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public float zMaxRight = 3f;
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// foreground filter shader
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private ComputeShader foregroundFilterShader = null;
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private int foregroundFilterKernel = -1;
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void Start()
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{
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foregroundFilterShader = Resources.Load("ForegroundFiltDistShader") as ComputeShader;
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foregroundFilterKernel = foregroundFilterShader != null ? foregroundFilterShader.FindKernel("FgFiltDist") : -1;
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}
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/// <summary>
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/// Applies vertex filter by distance.
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/// </summary>
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/// <param name="vertexTexture">The vertex texture</param>
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/// <param name="alphaTexture">The alpha texture</param>
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public void ApplyVertexFilter(RenderTexture vertexTexture, RenderTexture alphaTexture, Matrix4x4 sensorWorldMatrix)
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{
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foregroundFilterShader.SetMatrix("_Transform", applySensorPose ? sensorWorldMatrix : Matrix4x4.identity);
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//Matrix4x4 matWorldKinect = sensorWorldMatrix.inverse;
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Vector3 posMin = new Vector3(xMin, yMin, zMin); // matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMin, zMin));
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Vector3 posMaxX = new Vector3(xMax, yMin, zMin) - posMin; // matWorldKinect.MultiplyPoint3x4(new Vector3(xMax, yMin, zMin)) - posMin;
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Vector3 posMaxY = new Vector3(xMin, yMax, zMin) - posMin; // matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMax, zMin)) - posMin;
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Vector3 posMaxZLeft = new Vector3(xMin, yMin, zMaxLeft) - posMin; // matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMin, zMaxRight)) - posMin;
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Vector3 posMaxZRight = new Vector3(xMin, yMin, zMaxRight) - posMin; // matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMin, zMaxLeft)) - posMin;
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Vector3 posMaxZ = (posMaxZLeft + posMaxZRight) / 2;
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Vector3 posDot = new Vector3(Vector3.Dot(posMaxX, posMaxX), Vector3.Dot(posMaxY, posMaxY), Vector3.Dot(posMaxZ, posMaxZ));
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foregroundFilterShader.SetVector("_PosMin", posMin);
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foregroundFilterShader.SetVector("_PosMaxX", posMaxX);
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foregroundFilterShader.SetVector("_PosMaxY", posMaxY);
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//foregroundFilterShader.SetVector("_PosMaxZ", posMaxZ);
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foregroundFilterShader.SetVector("_PosMaxZLeft", posMaxZLeft);
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foregroundFilterShader.SetVector("_PosMaxZRight", posMaxZRight);
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foregroundFilterShader.SetVector("_PosDot", posDot);
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foregroundFilterShader.SetTexture(foregroundFilterKernel, "_VertexTex", vertexTexture);
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foregroundFilterShader.SetTexture(foregroundFilterKernel, "_AlphaTex", alphaTexture);
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foregroundFilterShader.Dispatch(foregroundFilterKernel, vertexTexture.width / 8, vertexTexture.height / 8, 1);
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}
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}
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}
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