void Update()
{
_KinectSensor = _AzureKinectManager.SensorList[_DeviceNumber];
if (_KinectSensor != null)
{
if (_KinectSensor.RawColorImage != null)
{
_ColorImageTexture.LoadRawTextureData(_KinectSensor.RawColorImage);
_ColorImageTexture.Apply();
}
if (_KinectSensor.PointCloud != null)
{
Short3[] pointCloud = _KinectSensor.PointCloud;
Vector3[] vertices = new Vector3[pointCloud.Length];
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = new Vector3(pointCloud[i].X * 0.001f, pointCloud[i].Y * -0.001f, pointCloud[i].Z * 0.001f);
}
_PointCloudMesh.UpdateVertices(vertices);
_PointCloudMesh.UpdateColorTexture(_KinectSensor.RawColorImage);
}
}
}
void Start()
{
_KinectSensor = _AzureKinectManager.Sensor;
if (_KinectSensor != null)
{
_DepthRawData = new byte[_KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight * sizeof(ushort)];
_TransformedDepthRawData = new byte[_KinectSensor.ColorImageWidth * _KinectSensor.ColorImageHeight * sizeof(ushort)];
_ColorImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.BGRA32, false);
_TransformedColorImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.BGRA32, false);
_DepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_TransformedDepthImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.R16, false);
MeshRenderer colorMeshRenderer = _ColorImageObject.GetComponent <MeshRenderer>();
colorMeshRenderer.sharedMaterial = new Material(_UnlitTextureMaterial);
colorMeshRenderer.sharedMaterial.SetTexture("_MainTex", _ColorImageTexture);
MeshRenderer transformedColorMeshRenderer = _TransformedColorImageObject.GetComponent <MeshRenderer>();
transformedColorMeshRenderer.sharedMaterial = new Material(_UnlitTextureMaterial);
transformedColorMeshRenderer.sharedMaterial.SetTexture("_MainTex", _TransformedColorImageTexture);
MeshRenderer depthMeshRenderer = _DepthImageObject.GetComponent <MeshRenderer>();
depthMeshRenderer.sharedMaterial = new Material(_DepthVisualizer);
depthMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _DepthImageTexture);
MeshRenderer transformedDepthMeshRenderer = _TransformedDepthImageObject.GetComponent <MeshRenderer>();
transformedDepthMeshRenderer.sharedMaterial = new Material(_DepthVisualizer);
transformedDepthMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _TransformedDepthImageTexture);
}
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
}
void Start()
{
List <AzureKinectSensor> kinectSensors = _AzureKinectManager.SensorList;
if (_DeviceNumber < kinectSensors.Count)
{
_KinectSensor = _AzureKinectManager.SensorList[_DeviceNumber];
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
_DepthRawData = new byte[_KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight * sizeof(ushort)];
CameraCalibration deviceDepthCameraCalibration = _KinectSensor.DeviceCalibration.DepthCameraCalibration;
CameraCalibration deviceColorCameraCalibration = _KinectSensor.DeviceCalibration.ColorCameraCalibration;
K4A.Calibration calibration = new K4A.Calibration();
calibration.DepthCameraCalibration = CreateCalibrationCamera(deviceDepthCameraCalibration, _KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight);
calibration.ColorCameraCalibration = CreateCalibrationCamera(deviceColorCameraCalibration, _KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
_PointCloudRenderer = GetComponent <PointCloudRenderer>();
_PointCloudRenderer.GenerateMesh(calibration, K4A.CalibrationType.Depth);
_AzureKinectManager.OpenDevice(_DeviceNumber);
}
}
}
public void Initialize(AzureKinectSensor kinectSensor)
{
if (!_Initialized)
{
_KinectSensor = kinectSensor;
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
// _LowPassFilter = new ExponentialSmoothingLowPassFilter((uint)_Accel.Length, 0.05f);
// _LowPassFilter = new DoubleExponentialSmoothingLowPassFilter((uint)_Accel.Length, 0.3f, 0.3f);
_LowPassFilter = new ButterworthFilter(_Order, _SamplingFrequency, _CutoffFrequency, (uint)_Accel.Length);
_DepthRawData = new byte[_KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight * sizeof(ushort)];
_PointCloudRenderer = GetComponent <PointCloudRenderer>();
CameraCalibration deviceDepthCameraCalibration = _KinectSensor.DeviceCalibration.DepthCameraCalibration;
CameraCalibration deviceColorCameraCalibration = _KinectSensor.DeviceCalibration.ColorCameraCalibration;
K4A.Calibration calibration = new K4A.Calibration();
calibration.DepthCameraCalibration = CreateCalibrationCamera(deviceDepthCameraCalibration, _KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight);
calibration.ColorCameraCalibration = CreateCalibrationCamera(deviceColorCameraCalibration, _KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
_PointCloudRenderer.GenerateMesh(calibration, K4A.CalibrationType.Depth);
_Initialized = true;
}
}
}
void Awake()
{
_MainThreadID = Thread.CurrentThread.ManagedThreadId;
_AzureKinectSensor = gameObject.GetComponent <AzureKinectSensor>();
_AzureKinectSensor.OpenSensor();
if (_AzureKinectSensor != null)
{
_CancellationTokenSource = new CancellationTokenSource();
RunAnotherThread(_CancellationTokenSource.Token);
}
}
void Start()
{
_KinectSensor = _AzureKinectManager.Sensor;
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
_ColorImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.BGRA32, false);
_PointCloudMesh = GetComponent <PointCloudMesh>();
_PointCloudMesh.GenerateMesh(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
}
}
void Update()
{
_KinectSensor = _AzureKinectManager.SensorList[_DeviceNumber];
if (_KinectSensor != null)
{
if (_KinectSensor.RawDepthImage != null)
{
short[] depthImage = _KinectSensor.RawDepthImage;
System.Buffer.BlockCopy(depthImage, 0, _DepthRawData, 0, _DepthRawData.Length);
_PointCloudRenderer.UpdateColorTexture(_KinectSensor.TransformedColorImage);
_PointCloudRenderer.UpdateDepthTexture(_DepthRawData);
}
}
}
private void RunAnotherThread(CancellationToken cancellationToken, AzureKinectSensor kinectSensor)
{
Task.Run(() =>
{
// Multithread
// Debug.Log("********************");
// Debug.Log(" MainThreadID: " + _MainThreadID);
// Debug.Log(" AnotherThreadID: " + Thread.CurrentThread.ManagedThreadId);
// Debug.Log(" KinectSerialNum: " + kinectSensor.Device.SerialNum);
// Debug.Log("********************");
while (true)
{
cancellationToken.ThrowIfCancellationRequested();
kinectSensor.ProcessCameraFrame();
}
});
}
void Start()
{
var kinectSensors = _AzureKinectManager.SensorList;
if (_DeviceNumber < kinectSensors.Count)
{
_KinectSensor = kinectSensors[_DeviceNumber];
if (_KinectSensor != null)
{
_ColorImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.BGRA32, false);
_TransformedColorImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.BGRA32, false);
int depthImageSize = _KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight;
int transformedDepthImageSize = _KinectSensor.ColorImageWidth * _KinectSensor.ColorImageHeight;
_DepthBuffer = new ComputeBuffer(depthImageSize / 2, sizeof(uint));
_TransformedDepthBuffer = new ComputeBuffer(transformedDepthImageSize / 2, sizeof(uint));
MeshRenderer colorMeshRenderer = _ColorImageObject.GetComponent <MeshRenderer>();
colorMeshRenderer.sharedMaterial = new Material(_UnlitTextureMaterial);
colorMeshRenderer.sharedMaterial.SetTexture("_MainTex", _ColorImageTexture);
MeshRenderer transformedColorMeshRenderer = _TransformedColorImageObject.GetComponent <MeshRenderer>();
transformedColorMeshRenderer.sharedMaterial = new Material(_UnlitTextureMaterial);
transformedColorMeshRenderer.sharedMaterial.SetTexture("_MainTex", _TransformedColorImageTexture);
_DepthVisualizerMaterial = new Material(_DepthVisualizer);
_DepthVisualizerMaterial.SetInt("_Width", _KinectSensor.DepthImageWidth);
_DepthVisualizerMaterial.SetInt("_Height", _KinectSensor.DepthImageHeight);
MeshRenderer depthMeshRenderer = _DepthImageObject.GetComponent <MeshRenderer>();
depthMeshRenderer.sharedMaterial = _DepthVisualizerMaterial;
_TransformedDepthVisualizerMaterial = new Material(_DepthVisualizer);
_TransformedDepthVisualizerMaterial.SetInt("_Width", _KinectSensor.ColorImageWidth);
_TransformedDepthVisualizerMaterial.SetInt("_Height", _KinectSensor.ColorImageHeight);
MeshRenderer transformedDepthMeshRenderer = _TransformedDepthImageObject.GetComponent <MeshRenderer>();
transformedDepthMeshRenderer.sharedMaterial = _TransformedDepthVisualizerMaterial;
}
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
}
}
void Update()
{
_KinectSensor = _AzureKinectManager.SensorList[_DeviceNumber];
if (_KinectSensor != null)
{
if (_KinectSensor.RawColorImage != null)
{
_ColorImageTexture.LoadRawTextureData(_KinectSensor.RawColorImage);
_ColorImageTexture.Apply();
}
if (_KinectSensor.PointCloud != null)
{
Short3[] pointCloud = _KinectSensor.PointCloud;
Vector3[] vertices = new Vector3[pointCloud.Length];
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = new Vector3(pointCloud[i].X * 0.001f, pointCloud[i].Y * -0.001f, pointCloud[i].Z * 0.001f);
}
_PointCloudMesh.UpdateVertices(vertices);
_PointCloudMesh.UpdateColorTexture(_KinectSensor.RawColorImage);
}
System.Numerics.Vector3 accel = _KinectSensor.ImuSample.AccelerometerSample;
if (LowPassFilter)
{
_Accel[0] = accel.X;
_Accel[1] = accel.Y;
_Accel[2] = accel.Z;
_LowPassFilter.Apply(_Accel, ref _AccelOut);
accel.X = _AccelOut[0];
accel.Y = _AccelOut[1];
accel.Z = _AccelOut[2];
}
UnityEngine.Vector3 kinectOrientation = OrientationEstimator.EstimateFromAccelerometerForUnity(accel);
this.transform.eulerAngles = kinectOrientation;
}
}
void Awake()
{
_MainThreadID = Thread.CurrentThread.ManagedThreadId;
int deviceCount = AzureKinectSensor.GetDeviceCount();
for (int i = 0; i < deviceCount; i++)
{
var kinectSensor = new AzureKinectSensor(ColorImageFormat, ColorCameraMode, DepthCameraMode);
if (kinectSensor.OpenSensor(i))
{
_AzureKinectSensorList.Add(kinectSensor);
}
}
_CancellationTokenSource = new CancellationTokenSource();
foreach (var kinectSensor in _AzureKinectSensorList)
{
RunAnotherThread(_CancellationTokenSource.Token, kinectSensor);
}
}
void Start()
{
List <AzureKinectSensor> kinectSensors = _AzureKinectManager.SensorList;
if (_DeviceNumber < kinectSensors.Count)
{
_KinectSensor = _AzureKinectManager.SensorList[_DeviceNumber];
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
// _LowPassFilter = new ExponentialSmoothingLowPassFilter((uint)_Accel.Length, 0.05f);
// _LowPassFilter = new DoubleExponentialSmoothingLowPassFilter((uint)_Accel.Length, 0.3f, 0.3f);
_LowPassFilter = new ButterworthFilter(_Order, _SamplingFrequency, _CutoffFrequency, (uint)_Accel.Length);
_ColorImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.BGRA32, false);
_PointCloudMesh = GetComponent <PointCloudMesh>();
_PointCloudMesh.GenerateMesh(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
}
}
}
public void Initialize()
{
if (!_Initialized)
{
// _MainThreadID = Thread.CurrentThread.ManagedThreadId;
int deviceCount = AzureKinectSensor.GetDeviceCount();
for (int i = 0; i < deviceCount; i++)
{
var kinectSensor = new AzureKinectSensor(ColorImageFormat, ColorCameraMode, DepthCameraMode);
if (kinectSensor.OpenSensor(i))
{
_AzureKinectSensorList.Add(kinectSensor);
_DeviceSerialNumList.Add(kinectSensor.Device.SerialNum);
_CancellationTokenSourceList.Add(new CancellationTokenSource());
kinectSensor.CloseSensor();
}
}
_Initialized = true;
}
}
