// updates the mesh according to current depth frame
private void UpdateMesh()
{
if (!bBuildMesh && (Time.time - lastMeshUpdateTime) >= updateMeshInterval)
{
lastMeshUpdateTime = Time.time;
// copy the texture
Graphics.CopyTexture(colorTexture, colorTextureBuildMesh);
if (bColorCamRes)
{
// get transformed depth & BI frames, if needed
ulong tDepthFrameTime = 0;
sensorData.sensorInterface.GetColorCameraDepthFrame(sensorData, ref tDepthImage, ref tDepthFrameTime);
ulong tBiFrameTime = 0;
sensorData.sensorInterface.GetColorCameraBodyIndexFrame(sensorData, ref tBodyIndexImage, ref tBiFrameTime);
//Debug.Log("UpdateMesh - color time: " + sensorData.lastColorFrameTime + ", tdepth time: " + tDepthFrameTime + ", bi time: " + tBiFrameTime);
}
else
{
// copy depth and BI frames
KinectInterop.CopyBytes(sensorData.depthImage, sizeof(ushort), tDepthImage, sizeof(ushort));
KinectInterop.CopyBytes(sensorData.bodyIndexImage, sizeof(byte), tBodyIndexImage, sizeof(byte));
//Debug.Log("UpdateMesh - tcolor time: " + sensorData.lastDepthCamColorFrameTime + ", depth time: " + sensorData.lastDepthFrameTime + ", bi time: " + sensorData.lastBodyIndexFrameTime);
}
bBuildMesh = true;
}
if (bUpdateMesh)
{
Graphics.CopyTexture(colorTextureBuildMesh, colorTextureUpdateMesh);
mesh.vertices = meshVertices;
if (!showAsPointCloud)
{
mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0);
}
mesh.RecalculateBounds();
//prevUserId = userId;
bUpdateMesh = false;
//Debug.Log("Mesh updated.");
if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval)
{
lastColliderUpdateTime = Time.time;
MeshCollider meshCollider = GetComponent <MeshCollider>();
if (meshCollider)
{
meshCollider.sharedMesh = null;
meshCollider.sharedMesh = mesh;
}
}
}
}
// updates the mesh according to current depth frame
private void UpdateMesh()
{
// check for players
//bool bHavePlayers = kinectManager.GetUsersCount() != 0;
if (!bBuildMesh && (Time.time - lastMeshUpdateTime) >= updateMeshInterval /**&& (!updateWhenNoPlayers || !bHavePlayers)*/)
{
lastMeshUpdateTime = Time.time;
// copy the texture
Graphics.CopyTexture(colorTexture, colorTextureBuildMesh);
if (bColorCamRes)
{
// get transformed depth frame, if needed
ulong frameTime = 0;
sensorData.sensorInterface.GetColorCameraDepthFrame(sensorData, ref tDepthImage, ref frameTime);
//Debug.Log("UpdateMesh - color time: " + sensorData.lastColorFrameTime + ", tdepth time: " + frameTime);
}
else
{
// copy depth frame
KinectInterop.CopyBytes(sensorData.depthImage, sizeof(ushort), tDepthImage, sizeof(ushort));
//Debug.Log("UpdateMesh - tcolor time: " + sensorData.lastDepthCamColorFrameTime + ", depth time: " + sensorData.lastDepthFrameTime);
}
bBuildMesh = true;
}
if (bUpdateMesh)
{
Graphics.CopyTexture(colorTextureBuildMesh, colorTextureUpdateMesh);
mesh.vertices = meshVertices;
if (!showAsPointCloud)
{
mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0);
}
mesh.RecalculateBounds();
bUpdateMesh = false;
//Debug.Log("Mesh updated.");
if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval)
{
lastColliderUpdateTime = Time.time;
MeshCollider meshCollider = GetComponent <MeshCollider>();
if (meshCollider)
{
meshCollider.sharedMesh = null;
meshCollider.sharedMesh = mesh;
}
}
}
}
// updates the mesh according to current depth frame
private void UpdateMesh()
{
if (bMeshInited && colorTexture != null && sensorData.depthImage != null && sensorData.depthCamIntr != null && meshShaderMat != null &&
lastDepthFrameTime != sensorData.lastDepthFrameTime && (Time.time - lastMeshUpdateTime) >= updateMeshInterval)
{
lastDepthFrameTime = sensorData.lastDepthFrameTime;
lastMeshUpdateTime = Time.time;
int paramsCache = coarseFactor + (showAsPointCloud ? 10 : 0);
if (meshParamsCache != paramsCache)
{
//Debug.Log("Mesh params changed. Recreating...");
CreateMeshVertInd();
}
if (depthImageBuffer != null && sensorData.depthImage != null /**&& depthBufferCreated*/)
{
KinectInterop.CopyBytes(sensorData.depthImage, sizeof(ushort), depthImageCopy, sizeof(ushort));
int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2;
KinectInterop.SetComputeBufferData(depthImageBuffer, depthImageCopy, depthBufferLength, sizeof(uint));
}
if (bodyIndexBuffer != null && sensorData.bodyIndexImage != null /**&& bodyIndexBufferCreated*/)
{
KinectInterop.CopyBytes(sensorData.bodyIndexImage, sizeof(byte), bodyIndexCopy, sizeof(byte));
int bodyIndexBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 4;
KinectInterop.SetComputeBufferData(bodyIndexBuffer, bodyIndexCopy, bodyIndexBufferLength, sizeof(uint));
}
switch (meshTexture)
{
case MeshTextureType.ColorTexture:
if (colorTexture != null)
{
Graphics.CopyTexture(colorTexture, colorTextureCopy);
}
break;
case MeshTextureType.InfraredTexture:
Texture infraredTexture = kinectManager.GetInfraredImageTex(sensorIndex);
if (infraredTexture != null)
{
Graphics.CopyTexture(infraredTexture, colorTextureCopy);
}
break;
}
meshShaderMat.SetBuffer("_DepthMap", depthImageBuffer);
meshShaderMat.SetBuffer("_BodyIndexMap", bodyIndexBuffer);
meshShaderMat.SetInt("_CoarseFactor", coarseFactor);
meshShaderMat.SetInt("_IsPointCloud", showAsPointCloud ? 1 : 0);
meshShaderMat.SetInt("_UserBodyIndex", userBodyIndex);
meshShaderMat.SetVector("_UserBodyPos", userBodyPos);
meshShaderMat.SetMatrix("_Transform", sensorInt.GetSensorToWorldMatrix());
meshShaderMat.SetVector("_TexRes", new Vector2(imageWidth, imageHeight));
meshShaderMat.SetVector("_Cxy", new Vector2(sensorData.depthCamIntr.ppx, sensorData.depthCamIntr.ppy));
meshShaderMat.SetVector("_Fxy", new Vector2(sensorData.depthCamIntr.fx, sensorData.depthCamIntr.fy));
meshShaderMat.SetTexture("_ColorTex", colorTextureCopy);
meshShaderMat.SetVector("_SpaceScale", kinectManager.GetSensorSpaceScale(sensorIndex)); // kinectManager.GetDepthImageScale(sensorIndex)
meshShaderMat.SetBuffer("_SpaceTable", spaceTableBuffer);
// mesh bounds
if (kinectManager.GetUserBoundingBox(userId, null, sensorIndex, Rect.zero, out Vector3 posMin, out Vector3 posMax))
{
Vector3 boundsCenter = new Vector3((posMax.x - posMin.x) / 2f, (posMax.y - posMin.y) / 2f, (posMax.z - posMin.z) / 2f);
Vector3 boundsSize = new Vector3((posMax.x - posMin.x), (posMax.y - posMin.y), (posMax.z - posMin.z));
mesh.bounds = new Bounds(boundsCenter, boundsSize);
}
if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval)
{
lastColliderUpdateTime = Time.time;
MeshCollider meshCollider = GetComponent <MeshCollider>();
if (meshCollider)
{
meshCollider.sharedMesh = null;
meshCollider.sharedMesh = mesh;
}
}
}
}
// updates the mesh according to current depth frame
private void UpdateMesh()
{
if (bMeshInited && sensorData.depthImage != null && sensorData.depthCamIntr != null && meshShaderMat != null &&
lastDepthFrameTime != sensorData.lastDepthFrameTime && (Time.time - lastMeshUpdateTime) >= updateMeshInterval)
{
lastDepthFrameTime = sensorData.lastDepthFrameTime;
lastMeshUpdateTime = Time.time;
int paramsCache = coarseFactor + (showAsPointCloud ? 10 : 0);
if (meshParamsCache != paramsCache)
{
//Debug.Log("Mesh params changed. Recreating...");
CreateMeshVertInd();
}
if (depthImageBuffer != null && sensorData.depthImage != null /**&& depthBufferCreated*/)
{
KinectInterop.CopyBytes(sensorData.depthImage, sizeof(ushort), depthImageCopy, sizeof(ushort));
int depthBufferLength = sensorData.depthImageWidth * sensorData.depthImageHeight / 2;
KinectInterop.SetComputeBufferData(depthImageBuffer, depthImageCopy, depthBufferLength, sizeof(uint));
}
switch (meshTexture)
{
case MeshTextureType.ColorTexture:
if (colorTexture != null)
{
Graphics.CopyTexture(colorTexture, colorTextureCopy);
}
break;
case MeshTextureType.InfraredTexture:
Texture infraredTexture = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ?
sensorData.infraredImageTexture : sensorData.colorInfraredTexture;
if (infraredTexture != null)
{
Graphics.CopyTexture(infraredTexture, colorTextureCopy);
}
break;
}
if (sourceImageResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution)
{
//Debug.Log("SceneMeshGpu DepthFrameTime: " + lastDepthFrameTime);
}
else
{
//sensorData.usedColorDepthBufferTime = sensorData.lastColorDepthBufferTime;
//Debug.Log("SceneMeshGpu ColorDepthBufferTime: " + sensorData.lastColorDepthBufferTime);
}
if (sourceImageResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution)
{
meshShaderMat.SetBuffer("_DepthMap", depthImageBuffer);
}
else
{
meshShaderMat.SetBuffer("_DepthMap", sensorData.colorDepthBuffer);
}
meshShaderMat.SetTexture("_ColorTex", colorTextureCopy);
meshShaderMat.SetVector("_SpaceScale", sensorSpaceScale);
meshShaderMat.SetBuffer("_SpaceTable", spaceTableBuffer);
meshShaderMat.SetVector("_TexRes", new Vector2(imageWidth, imageHeight));
//meshShaderMat.SetVector("_Cxy", new Vector2(sensorData.depthCamIntr.ppx, sensorData.depthCamIntr.ppy));
//meshShaderMat.SetVector("_Fxy", new Vector2(sensorData.depthCamIntr.fx, sensorData.depthCamIntr.fy));
meshShaderMat.SetInt("_CoarseFactor", coarseFactor);
meshShaderMat.SetInt("_IsPointCloud", showAsPointCloud ? 1 : 0);
meshShaderMat.SetMatrix("_Transform", sensorInt.GetSensorToWorldMatrix());
meshShaderMat.SetVector("_PosMin", new Vector3(xMin, yMin, zMin));
meshShaderMat.SetVector("_PosMax", new Vector3(xMax, yMax, zMax));
// mesh bounds
Vector3 boundsCenter = new Vector3((xMax - xMin) / 2f, (yMax - yMin) / 2f, (zMax - zMin) / 2f);
Vector3 boundsSize = new Vector3((xMax - xMin), (yMax - yMin), (zMax - zMin));
mesh.bounds = new Bounds(boundsCenter, boundsSize);
// update lighting parameters
lighting.UpdateLighting(meshShaderMat, applyLighting);
if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval)
{
lastColliderUpdateTime = Time.time;
MeshCollider meshCollider = GetComponent <MeshCollider>();
if (meshCollider)
{
meshCollider.sharedMesh = null;
meshCollider.sharedMesh = mesh;
}
}
}
}
