public CameraParas GetCameraPara()
{
ZEDCamera zedCam = zedManager.zedCamera;
CalibrationParameters para = zedCam.GetCalibrationParameters();
CameraParas fypPara = new CameraParas();
fypPara.cx = para.leftCam.cx;
fypPara.cy = para.leftCam.cy;
fypPara.fx = para.leftCam.fx;
fypPara.fy = para.leftCam.fy;
fypPara.ResolutionWidth = (int)para.leftCam.resolution.width;
fypPara.ResolutionHeight = (int)para.leftCam.resolution.height;
return(fypPara);
}
private void OnRenderImage(RenderTexture source, RenderTexture destination)
{
// Copy source to destination
Graphics.Blit(source, destination);
Texture2D depth = phyCameraAPI.GetDepthTexture();
if (depth == null || depth.width == 0 || depth.height == 0)
{
return;
}
CameraParas paras = phyCameraAPI.GetCameraPara();
int resolutionX = (int)(paras.ResolutionWidth * MeshDensity);
int resolutionY = (int)(paras.ResolutionHeight * MeshDensity);
float cx = paras.cx * MeshDensity;
float cy = paras.cy * MeshDensity;
float fx = paras.fx * MeshDensity;
float fy = paras.fy * MeshDensity;
depthTo3DPointShader.SetFloat("_Camera_cx", cx);
depthTo3DPointShader.SetFloat("_Camera_cy", cy);
depthTo3DPointShader.SetFloat("_Camera_fx", fx);
depthTo3DPointShader.SetFloat("_Camera_fy", fy);
depthTo3DPointShader.SetInt("_Camera_ResolutionX", resolutionX);
depthTo3DPointShader.SetInt("_Camera_ResolutionY", resolutionY);
RenderTexture tempRenderTexture = new RenderTexture(resolutionX, resolutionY, 16, RenderTextureFormat.ARGBHalf);
Graphics.Blit(depth, tempRenderTexture, depthTo3DPointShader);
//Cached Active RenderTexture
RenderTexture cachedActive = RenderTexture.active;
RenderTexture.active = tempRenderTexture;
Texture2D tex2d = new Texture2D(resolutionX, resolutionY, TextureFormat.RGBAHalf, false);
tex2d.ReadPixels(new Rect(0, 0, resolutionX, resolutionY), 0, 0);
// For each Pixel R = X, G = Y, B = Z
Color[] allPixelInfo = tex2d.GetPixels();
vertices = new Vector3[allPixelInfo.Length];
triangles = new int[(resolutionX - 1) * (resolutionY - 1) * 2 * 3];
int triangleCount = 0;
for (int i = 0; i < allPixelInfo.Length; i++)
{
Color pixelInfo = allPixelInfo[i];
int u = (i % resolutionX);
int v = (i / resolutionX);
double x, y, z;
x = pixelInfo.r;
y = pixelInfo.g;
z = pixelInfo.b;
vertices[i] = new Vector3(Math.Min(Math.Max((float)x, -100.0f), 100.0f),
Math.Min(Math.Max((float)y, -100.0f), 100.0f),
Math.Min(Math.Max((float)z, 0.05f), 20.0f));
if (u < (resolutionX - 1) && v < (resolutionY - 1))
{
triangles[triangleCount] = i;
triangleCount++;
triangles[triangleCount] = i + 1;
triangleCount++;
triangles[triangleCount] = i + resolutionX;
triangleCount++;
triangles[triangleCount] = i + 1;
triangleCount++;
triangles[triangleCount] = i + resolutionX + 1;
triangleCount++;
triangles[triangleCount] = i + resolutionX;
triangleCount++;
}
}
meshGenerator.GenerateMesh(vertices, triangles);
//Reset Active RenderTexture
RenderTexture.active = cachedActive;
}
