// Start is called before the first frame update
void Start()
{
int mapWidth = 100;
int mapHeight = 100;
MapDisplay display = FindObjectOfType <MapDisplay>();
MapGen map = FindObjectOfType <MapGen>();
Vector2 offset = new Vector2(0, 0);
int seed = Random.Range(-1000, 1000);
float[,] noiseMap = Noise.GenerateNoiseMap(100, 100, map.noiseScale, 3, 0.2f, 3, seed, offset);
Color[] colorMap = new Color[mapWidth * mapHeight];
for (int y = 0; y < mapHeight; y++)
{
for (int x = 0; x < mapWidth; x++)
{
float currentHeight = noiseMap[x, y];
for (int i = 0; i < map.regions.Length; i++)
{
if (currentHeight < map.regions[i].height)
{
colorMap[(y * mapWidth) + x] = map.regions[i].color;
break;
}
}
}
}
display.DrawMesh(MeshGen.TerrainMeshGen(noiseMap, map.heightMultiplier, map.meshHeightCurve),
ColorTexture.TextureColorMap(colorMap, mapWidth, mapHeight));
}
/// <summary>
/// Computes the pf image from histogram. Used for visualization.
/// </summary>
public void ComputePfImageFromHistogram()
{
float pf = 0;
for (int i = 0; i < Height; i++)
{
for (int j = 0; j < Width; j++)
{
int idx = i * Width + j;
Color pixel = ColorTexture.GetPixel(j, i);
pf = GetPf(pixel);
if (pf > 0.8f)
{
if (!ColorTextureVisual.GetPixel(j, i).Equals(Color.blue)) //&& Mask[idx] == defines.HIST_FG_PIXEL)
{
ColorTextureVisual.SetPixel(j, i, Color.Lerp(pixel, Color.green, 0.5f));
if (Mask[idx] == defines.HIST_FG_PIXEL)
{
ColorTextureVisual.SetPixel(j, i, Color.Lerp(pixel, Color.cyan, 0.5f));
}
}
}
else if (pf == 0.3f)
{
if (!ColorTextureVisual.GetPixel(j, i).Equals(Color.blue))
{
//ColorTextureVisual.SetPixel( j, i, Color.Lerp( pixel, Color.yellow, 0.2f ) );
}
}
}
}
ColorTextureVisual.Apply();
}
/// <summary>
/// Gets 3D points [units = meters] and calculated pf vector
/// </summary>
/// <param name="state">State.</param>
private void PreparePointCloud(HoloProxies.Engine.trackerState state)
{
boundingbox = findBoundingBoxFromCurrentState(state);
for (int i = 0; i < Height; i++)
{
for (int j = 0; j < Width; j++)
{
int idx = i * Width + j;
// if point is not in the bounding box
if (j < boundingbox.x || j >= boundingbox.z || i < boundingbox.y || i >= boundingbox.w)
{
// mark as not useful
Camera3DPoints[idx].X = 0;
Camera3DPoints[idx].Y = 0;
Camera3DPoints[idx].Z = 0;
PfVec[idx] = defines.OUTSIDE_BB;
}
else // if it's inside the box
{
Color pixel = ColorTexture.GetPixel(j, i);
PfVec[idx] = GetPf(pixel);
// Draw the bounding box region
if (drawBox && OnBoxEdge(j, i))
{
//ColorTextureVisual.SetPixel( j, i, Color.blue );
ColorTextureVisual.SetPixel(j, i, Color.Lerp(pixel, Color.blue, 0.3f));
}
}
}
} //end for
}
/// <summary>
/// Initializes a new instance of XyzAxis class.
/// </summary>
public XyzAxis()
{
Length = 1.0f;
Radius = 0.025f;
Signed = false;
CoordinateSystemKind = CoordinateSystemKind.RightHanded;
Texture = new ColorTexture(0.75f, 0.75f, 0.75f, 1.0f);
}
private void ReleaseTextures()
{
// Release the textures object.
ColorTexture?.ShutDown();
ColorTexture = null;
NormalMapTexture?.ShutDown();
NormalMapTexture = null;
}
private void ReleaseTextures()
{
// Release the normal map texture object.
NormalMapTexture?.ShutDown();
NormalMapTexture = null;
// Release the color texture object.
ColorTexture?.ShutDown();
ColorTexture = null;
}
public ColorTexture ImportColorTexture(RawColorTexture rawTexture)
{
ColorTexture texture = new ColorTexture {
image = ExtractImage(rawTexture.image, TextureProcessingType.Color),
value = rawTexture.value
};
return(texture);
}
private void ShutdownBuffers()
{
// Release the Textures within this class.
ColorTexture?.ShutDown();
ColorTexture = null;
NormalMapTexture?.ShutDown();
NormalMapTexture = null;
// Return the index buffer.
IndexBuffer?.Dispose();
IndexBuffer = null;
// Release the vertex buffer.
VertexBuffer?.Dispose();
VertexBuffer = null;
}
public Map(int width, int height)
{
this.width = width;
this.height = height;
_dirty = true;
_generating = false;
coloredTextureCache = ColorTexture.CreateRenderTarget(GraphicsDevice, width, height, true);
intensityTextureCache = ColorTexture.CreateRenderTarget(GraphicsDevice, width, height, true);
intensityTextureTemp = ColorTexture.CreateRenderTarget(GraphicsDevice, width, height, true);
intensityTexture = ColorTexture.CreateRenderTarget(GraphicsDevice, width, height, true);
colorMaps = new List <Texture2D>();
colorMapIndex = 0;
}
/// <summary>
///
/// </summary>
public void Dispose()
{
if (ColorTexture != null)
{
ColorTexture.Dispose();
}
if (DepthTexture != null)
{
DepthTexture.Dispose();
}
//if (FBOHandle != 0)
// TK.GL.Ext.DeleteFramebuffers(1, ref FBOHandle);
GC.SuppressFinalize(this);
}
public void Dispose()
{
if (ID == 0)
{
return;
}
int id = ID;
GL.DeleteFramebuffers(1, ref id);
ColorTexture.Dispose();
DepthTexture.Dispose();
ID = 0;
Width = 0;
Height = 0;
ColorTexture = null;
DepthTexture = null;
}
public void GenerateMap()
{
float[,] noiseMap = Noise.GenerateNoiseMap(mapWidth, mapHeight, noiseScale, octaves,
persistence, lacunarity, seed, offset);
Color[] colorMap = new Color[mapWidth * mapHeight];
for (int y = 0; y < mapHeight; y++)
{
for (int x = 0; x < mapWidth; x++)
{
float currentHeight = noiseMap[x, y];
for (int i = 0; i < regions.Length; i++)
{
if (currentHeight < regions[i].height)
{
colorMap[(y * mapWidth) + x] = regions[i].color;
break;
}
}
}
}
MapDisplay display = FindObjectOfType <MapDisplay>();
if (drawMode == DrawMode.NoiseMap)
{
display.DrawTexture(ColorTexture.TextureHeightMap(noiseMap));
}
else if (drawMode == DrawMode.ColorMap)
{
display.DrawTexture(ColorTexture.TextureColorMap(colorMap, mapWidth, mapHeight));
}
else if (drawMode == DrawMode.Mesh)
{
display.DrawMesh(MeshGen.TerrainMeshGen(noiseMap, heightMultiplier, meshHeightCurve),
ColorTexture.TextureColorMap(colorMap, mapWidth, mapHeight));
}
}
/// <summary>
/// Given a color space point with x,y coordinates of a pixel location
/// return the corresponding rgb pixel
/// </summary>
/// <returns>The pixel value.</returns>
/// <param name="pt">Point.</param>
public Color GetPixelValue(ColorSpacePoint pt)
{
return(ColorTexture.GetPixel((int)pt.X, (int)pt.Y));
}
private static void SetColorTexture(TextureLoader textureLoader, ColorTexture colorTexture, out Vector3 value, out ShaderResourceView textureView)
{
value = colorTexture.value;
textureView = textureLoader.Load(colorTexture.image, TextureLoader.DefaultMode.Standard);
}
public Color Shade(HitRecord record, Vector3 wi)
{
Color pixelColor = new Color(0, 0, 0);
Vector3 normal = record.SurfaceNormal;
normal.Normalize();
wi.Normalize();
float noiseCoefficient = 0f;
switch (Noise)
{
case Noise.Turbulence:
noiseCoefficient = Turbulence(record.IntersectionPoint);
break;
case Noise.Marble:
noiseCoefficient = Marble(record.IntersectionPoint);
break;
case Noise.Bumb:
noiseCoefficient = 1f;
normal = Bump(record.IntersectionPoint, normal);
break;
case Noise.None:
noiseCoefficient = 1f;
break;
default:
noiseCoefficient = 1f;
break;
}
if (BumpTexture != null)
{
Color displacementColor = BumpTexture.GetColorFromTexCoordinate(record.HitObject.GetTextudeCoordinates(record));
Vector3 displacementNormal = normal;
displacementNormal.X = ((displacementColor.R * 2) - 1);
displacementNormal.Y = ((displacementColor.G * 2) - 1);
displacementNormal.Z = displacementColor.B;
normal = (Vector3.Dot(displacementNormal, normal) < 0) ? -displacementNormal : displacementNormal;
}
float nDotL = Vector3.Dot(normal, wi);
if (nDotL > 0)
{
Color diffuse;
if (Constants.TextureMapping && ColorTexture != null && !(record.HitObject is Plane))
{
diffuse = ColorTexture.GetColorFromTexCoordinate(record.HitObject.GetTextudeCoordinates(record));
}
else
{
diffuse = Diffuse;
}
//add Diffuse Light
pixelColor.Append(diffuse.Mult(nDotL).Mult(noiseCoefficient));
pixelColor.Append(pixelColor.Mult(1f - noiseCoefficient));
//Calculate the Blinn halfVector
Vector3 h = wi;
h = Vector3.Add(h, wi);
h.Normalize();
float hDotN = Vector3.Dot(h, normal);
if (hDotN > 0)
{
float pow = (float)Math.Pow(hDotN, Shininess);
pixelColor.Append(Specular.Mult(pow));
}
}
pixelColor.Append(Ambient);
pixelColor.Clamp(0f, 1f);
return(pixelColor);
}
/// <summary>
/// Updates the frame by grabbing the rgb and depth from the Kinnect.
/// </summary>
/// <returns><c>true</c>, if frame was successfully updated, <c>false</c> otherwise.</returns>
/// <param name="state">State.</param>
public bool UpdateFrame(HoloProxies.Engine.trackerState state)
{
bool success = false;
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
//Debug.Log( "in here1" );
var colorFrame = frame.ColorFrameReference.AcquireFrame();
if (colorFrame != null)
{
//Debug.Log( "in here2" );
var depthFrame = frame.DepthFrameReference.AcquireFrame();
if (depthFrame != null)
{
//Debug.Log( "in here3" );
// get color data + texture
colorFrame.CopyConvertedFrameDataToArray(ColorData_full, ColorImageFormat.Rgba);
// get depth data
depthFrame.CopyFrameDataToArray(DepthData_full);
// Create a depth texture
//int index = 0;
//foreach (var ir in DepthData_full)
//{
// byte intensity = (byte)(ir >> 8);
// DepthRaw[index++] = intensity;
// DepthRaw[index++] = intensity;
// DepthRaw[index++] = intensity;
// DepthRaw[index++] = 255; // Alpha
//}
//DepthTexture_full.LoadRawTextureData( DepthRaw );
//DepthTexture_full.Apply(); TODO fix this
// dispose frame
depthFrame.Dispose();
depthFrame = null;
// Map depth to RGBD
AlignRGBD();
// Unproject to 3D points in camera space (based on bounding box)
UnprojectFrom2Dto3D();
// Downsample all data frames if necessary
DownsampleAndFilterRGBDImage();
// Apply downsampled texture
ColorTexture.LoadRawTextureData(ColorData);
ColorTextureVisual.LoadRawTextureData(ColorData);
// Unproject points to 3D space
PreparePointCloud(state);
if (plotHistogram)
{
for (int i = 0; i < HistogramTexture.height; i++)
{
for (int j = 0; j < HistogramTexture.width; j++)
{
int idx = i * HistogramTexture.width + j;
HistogramTexture.SetPixel(j, i, new Color(histogram.posterior[idx * 256], 0, 0));
}
}
HistogramTexture.Apply();
}
success = true;
}
colorFrame.Dispose();
colorFrame = null;
}
frame = null;
}
}
return(success);
}
protected override void OnLoad(EventArgs e)
{
base.OnLoad(e);
WorldSpace.AddDrawableGroup(new ControllerDrawableGroup(1, "Controller", RenderContext));
KeyPreview = true;
KinectDeviceManager dev = null;
//BasicGrid grid=new BasicGrid();
//grid.Load(RenderContext);
Controller = new TransformController(RenderContext, ScreenContext.HitChekcer);
WorldSpace.AddResource(Controller, "Controller");
//if (!String.IsNullOrEmpty(Settings.Default.InitLoadModel))
//{
// MMDModel model = MMDModelWithPhysics.OpenLoad(Settings.Default.InitLoadModel, RenderContext);
// WorldSpace.AddResource(model);
// if (!String.IsNullOrEmpty(Settings.Default.InitLoadMotion))
// {
// model.MotionManager.ApplyMotion(model.MotionManager.AddMotionFromFile(Settings.Default.InitLoadMotion, false));
// }
//}
//更新する必要のあるワールドスペースは、UpdateRequireWorldsに追加しなけれbなりません。
//PlaneBoard bill = new PlaneBoard(RenderContext, resourceView, new Vector2(800, 800));
//WorldSpace.AddResource(bill);
//bill.Transformer.Position = new Vector3(0, 0, 20);
#region Kinectテストコード
#if KINECT
OpenNIManager.Initialize();
dev = OpenNIManager.getDevice();
ColTexture = new ColorTexture(RenderContext, dev);
tex2 = new DepthTexture(RenderContext, 1000, dev);
#endif
#endregion
//format = SpriteBatch.CreateTextformat("Meiriyo", 30, FontWeight.ExtraBold);
//brush = SpriteBatch.CreateRadialGradientBrush(g,
// new RadialGradientBrushProperties() {CenterPoint = new PointF(100,100),GradientOriginOffset = new PointF(0,0),HorizontalRadius = 100f,VerticalRadius = 200f}).Brush;
//brush = SpriteBatch.CreateSolidColorBrush(Color.Aquamarine);
ScreenContext.CameraMotionProvider = new BasicCameraControllerMotionProvider(this, this);
BasicGrid gird = new BasicGrid();
gird.Visibility = true;
gird.Load(RenderContext);
ScreenContext.WorldSpace.AddResource(gird);
//textureの世界には、childウィンドウに追加からできるようにしてあります。
ControlForm controlForm = new ControlForm(RenderContext, ScreenContext, null, dev);
controlForm.Show(this);
//OpenFileDialog ofd = new OpenFileDialog();
//if (ofd.ShowDialog() == DialogResult.OK)
//{
// VMDCameraMotionProvider camMotion=VMDCameraMotionProvider.OpenFile(ofd.FileName);
// ScreenContext.CameraMotionProvider = camMotion;
// camMotion.Start();
//}
#region Kinectテストコード
#if KINECT
PlaneBoard bill = new PlaneBoard(RenderContext, ColTexture.TextureResourceView);
bill.Transformer.Position = new Vector3(0, 0, 50);
//bill.Transformer.Rotation *= Quaternion.RotationAxis(new Vector3(0,1,0),(float) (Math.PI));
form.WorldSpace.AddResource(bill);
form.WorldSpace.AddDynamicTexture(ColTexture);
#endif
#endregion
}
/// <summary>
/// Given a color space point with x,y coordinates of a pixel location
/// set the corresponding pixel to the given color
/// </summary>
/// <param name="pt">Point.</param>
public void SetPixelValue(ColorSpacePoint pt, Color color)
{
ColorTexture.SetPixel((int)pt.X, (int)pt.Y, color);
}
