void GetNoTrackingTexture(KinectOneDepth depth)
{
ushort[] data = depth.GetData();
Debug.Log(outputPixels.Length);
for (int i = 0; i < outputPixels.Length; i++)
{
int depthValue = Mathf.Clamp(data[i], 0, depthToColor.Length - 1);
outputPixels[i] = depthToColor[depthValue];
}
}
void GetNoTrackingTexture(KinectOneDepth depth)
{
ushort[] data = depth.GetData();
Debug.Log(outputPixels.Length);
for (int i = 0; i < outputPixels.Length; i++)
{
int depthValue = Mathf.Clamp(data[i], 0, depthToColor.Length - 1);
outputPixels[i] = depthToColor[depthValue];
}
}
void UpdateHistogram(KinectOneDepth depth)
{
int i, numOfPoints = 0;
System.Array.Clear(depthHistogramMap, 0, depthHistogramMap.Length);
short[] rawDepthMap = depth.data;
int depthIndex = 0;
// assume only downscaling
// calculate the amount of source pixels to move per column and row in
// output pixels
int factorX = depth.xres / textureSize.Width;
int factorY = ((depth.yres / textureSize.Height) - 1) * depth.xres;
for (int y = 0; y < textureSize.Height; ++y, depthIndex += factorY)
{
for (int x = 0; x < textureSize.Width; ++x, depthIndex += factorX)
{
int pixel = rawDepthMap[depthIndex];
pixel = Mathf.Clamp(pixel, 0, depthHistogramMap.Length - 1);
if (pixel != 0)
{
depthHistogramMap[pixel]++;
numOfPoints++;
}
}
}
depthHistogramMap[0] = 0;
if (numOfPoints > 0)
{
for (i = 1; i < depthHistogramMap.Length; i++)
{
depthHistogramMap[i] += depthHistogramMap[i - 1];
}
depthToColor[0] = Color.black;
for (i = 1; i < depthHistogramMap.Length; i++)
{
float intensity = (1.0f - (depthHistogramMap[i] / numOfPoints));
//depthHistogramMap[i] = intensity * 255;
depthToColor[i].r = (byte)(BaseColor.r * intensity);
depthToColor[i].g = (byte)(BaseColor.g * intensity);
depthToColor[i].b = (byte)(BaseColor.b * intensity);
depthToColor[i].a = 255;//(byte)(BaseColor.a * intensity);
}
}
}
void Start()
{
KinectOneInput input = ((KinectOneInput)KinectOneInput.Instance);
_mapper = input.GetMapper();
depthInfo = input.GetDepthSensor();
textureSize = new ResolutionData(depthInfo.Sensor.DepthFrameSource.FrameDescription.Width, depthInfo.Sensor.DepthFrameSource.FrameDescription.Height);
texture = new Texture2D(depthInfo.Sensor.DepthFrameSource.FrameDescription.Width, depthInfo.Sensor.DepthFrameSource.FrameDescription.Height,TextureFormat.RGBA32,false);
texture.wrapMode = TextureWrapMode.Clamp;
depthHistogramMap = new float[depthInfo.Sensor.DepthFrameSource.DepthMaxReliableDistance];
depthToColor = new Color32[depthInfo.Sensor.DepthFrameSource.DepthMaxReliableDistance];
outputPixels = new Color32[textureSize.Width * textureSize.Height];
if (null != target)
{
target.material.mainTexture = texture;
}
m_engageuser = this.GetComponent<KinectOneEngageSingleUser>();
CalImage2Screen(DepthImagePos.LeftMain);
}
void Start()
{
KinectOneInput input = ((KinectOneInput)KinectOneInput.Instance);
_mapper = input.GetMapper();
depthInfo = input.GetDepthSensor();
textureSize = new ResolutionData(depthInfo.Sensor.DepthFrameSource.FrameDescription.Width, depthInfo.Sensor.DepthFrameSource.FrameDescription.Height);
texture = new Texture2D(depthInfo.Sensor.DepthFrameSource.FrameDescription.Width, depthInfo.Sensor.DepthFrameSource.FrameDescription.Height, TextureFormat.RGBA32, false);
texture.wrapMode = TextureWrapMode.Clamp;
depthHistogramMap = new float[depthInfo.Sensor.DepthFrameSource.DepthMaxReliableDistance];
depthToColor = new Color32[depthInfo.Sensor.DepthFrameSource.DepthMaxReliableDistance];
outputPixels = new Color32[textureSize.Width * textureSize.Height];
if (null != target)
{
target.material.mainTexture = texture;
}
m_engageuser = this.GetComponent <KinectOneEngageSingleUser>();
CalImage2Screen(DepthImagePos.LeftMain);
}
void UpdateTexture(KinectOneDepth depth, KinectOneLabelMap labelmap, KinectOneImage image)
{
int trackedUserId = -1;
if (m_engageuser != null && m_engageuser.engagedTrackedUser != null)
{
trackedUserId = m_engageuser.engagedTrackedUser.Id;
}
if (trackedUserId == -1)
{
GetNoTrackingTexture(depth);
}
else
{
Kinect.ColorSpacePoint[] colorSpacePoints = new Kinect.ColorSpacePoint[depth.xres * depth.yres];
_mapper.MapDepthFrameToColorSpace(depth.GetData(), colorSpacePoints);
GetRemoveBackground(labelmap, image, colorSpacePoints);
}
texture.SetPixels32(outputPixels);
texture.Apply();
}
void UpdateTexture(KinectOneDepth depth, KinectOneLabelMap labelmap, KinectOneImage image)
{
int trackedUserId = -1;
if (m_engageuser != null && m_engageuser.engagedTrackedUser != null)
trackedUserId = m_engageuser.engagedTrackedUser.Id;
if (trackedUserId == -1)
{
GetNoTrackingTexture(depth);
}
else
{
Kinect.ColorSpacePoint[] colorSpacePoints = new Kinect.ColorSpacePoint[depth.xres * depth.yres];
_mapper.MapDepthFrameToColorSpace(depth.GetData(), colorSpacePoints);
GetRemoveBackground(labelmap, image, colorSpacePoints);
}
texture.SetPixels32(outputPixels);
texture.Apply();
}
void UpdateHistogram(KinectOneDepth depth)
{
int i, numOfPoints = 0;
System.Array.Clear(depthHistogramMap, 0, depthHistogramMap.Length);
short[] rawDepthMap = depth.data;
int depthIndex = 0;
// assume only downscaling
// calculate the amount of source pixels to move per column and row in
// output pixels
int factorX = depth.xres / textureSize.Width;
int factorY = ((depth.yres / textureSize.Height) - 1) * depth.xres;
for (int y = 0; y < textureSize.Height; ++y, depthIndex += factorY)
{
for (int x = 0; x < textureSize.Width; ++x, depthIndex += factorX)
{
int pixel = rawDepthMap[depthIndex];
pixel=Mathf.Clamp(pixel, 0, depthHistogramMap.Length-1);
if (pixel != 0)
{
depthHistogramMap[pixel]++;
numOfPoints++;
}
}
}
depthHistogramMap[0] = 0;
if (numOfPoints > 0)
{
for (i = 1; i < depthHistogramMap.Length; i++)
{
depthHistogramMap[i] += depthHistogramMap[i - 1];
}
depthToColor[0] = Color.black;
for (i = 1; i < depthHistogramMap.Length; i++)
{
float intensity = (1.0f - (depthHistogramMap[i] / numOfPoints));
//depthHistogramMap[i] = intensity * 255;
depthToColor[i].r = (byte)(BaseColor.r * intensity);
depthToColor[i].g = (byte)(BaseColor.g * intensity);
depthToColor[i].b = (byte)(BaseColor.b * intensity);
depthToColor[i].a = 255;//(byte)(BaseColor.a * intensity);
}
}
}
