private static Mesh CreateMesh(AzureKinectCalibration calibration)
{
int width = calibration.DepthCamera.Width;
int height = calibration.DepthCamera.Height;
var depthCamera = calibration.DepthCamera;
var vertices = new Vector3[width * height];
var uv = new Vector2[width * height];
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
float[] xy = new float[2];
int valid = 0;
if (AzureKinectIntrinsicTransformation.Unproject(depthCamera, new float[2] {
i, j
}, ref xy, ref valid))
{
vertices[i + j * width] = new Vector3(xy[0], xy[1], 1.0f);
}
else
{
vertices[i + j * width] = new Vector3(0.0f, 0.0f, 0.0f);
}
uv[i + j * width] = new Vector2(i / (float)(width - 1), j / (float)(height - 1));
}
}
int quadWidth = width - 2;
int quadHeight = height - 2;
var quadVertices = new Vector3[quadWidth * quadHeight * 4];
var quadUv = new Vector2[quadWidth * quadHeight * 4];
for (int ii = 0; ii < quadWidth; ++ii)
{
for (int jj = 0; jj < quadHeight; ++jj)
{
int quadIndex = ii + jj * quadWidth;
int i = ii + 1;
int j = jj + 1;
quadVertices[quadIndex * 4 + 0] = (vertices[i + j * width] + vertices[(i - 1) + (j - 1) * width]) * 0.5f;
quadVertices[quadIndex * 4 + 1] = (vertices[i + j * width] + vertices[(i + 1) + (j - 1) * width]) * 0.5f;
quadVertices[quadIndex * 4 + 2] = (vertices[i + j * width] + vertices[(i - 1) + (j + 1) * width]) * 0.5f;
quadVertices[quadIndex * 4 + 3] = (vertices[i + j * width] + vertices[(i + 1) + (j + 1) * width]) * 0.5f;
quadUv[quadIndex * 4 + 0] = uv[i + j * width];
quadUv[quadIndex * 4 + 1] = uv[i + j * width];
quadUv[quadIndex * 4 + 2] = uv[i + j * width];
quadUv[quadIndex * 4 + 3] = uv[i + j * width];
}
}
var triangles = new int[quadWidth * quadHeight * 6];
for (int i = 0; i < quadWidth * quadHeight; ++i)
{
triangles[i * 6 + 0] = i * 4 + 0;
triangles[i * 6 + 1] = i * 4 + 1;
triangles[i * 6 + 2] = i * 4 + 2;
triangles[i * 6 + 3] = i * 4 + 1;
triangles[i * 6 + 4] = i * 4 + 3;
triangles[i * 6 + 5] = i * 4 + 2;
}
// Without the bounds, Unity decides whether to render this mesh or not based on the vertices calculated here.
// This causes Unity not rendering the mesh transformed by the depth texture even when the transformed one
// belongs to the viewport of the camera.
var bounds = new Bounds(Vector3.zero, Vector3.one * 1000.0f);
var mesh = new Mesh()
{
indexFormat = IndexFormat.UInt32,
vertices = quadVertices,
uv = quadUv,
bounds = bounds,
};
mesh.SetIndices(triangles, MeshTopology.Triangles, 0);
return(mesh);
}
public void Setup(AzureKinectCalibration calibration)
{
meshFilter.mesh = CreateMesh(calibration);
//meshFilter.mesh = CreateGeometryMesh(calibration);
}
