void Start()
{
_KinectSensor = _AzureKinectManager.Sensor;
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
_TransformedColorImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.BGRA32, false);
_DepthRawData = new byte[_KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight * sizeof(ushort)];
_DepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_ColorImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.BGRA32, false);
_TransformedDepthRawData = new byte[_KinectSensor.ColorImageWidth * _KinectSensor.ColorImageHeight * sizeof(ushort)];
_TransformedDepthImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.R16, false);
_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);
#if COLOR_TO_DEPTH
_PointCloudRenderer.GenerateMesh(calibration, K4A.CalibrationType.Depth);
#else
_PointCloudRenderer.GenerateMesh(calibration, K4A.CalibrationType.Color);
#endif
}
}
public void Initialize(AzureKinectSensor kinectSensor)
{
if (!_Initialized)
{
_KinectSensor = kinectSensor;
if (_KinectSensor != null)
{
_LowPassFilter = new ButterworthFilter(_Order, _SamplingFrequency, _CutoffFrequency, (uint)_KinectPos.Length);
_Initialized = true;
}
}
}
/// <summary>
/// Main entry point.
/// </summary>
public static void Main()
{
// camera resolution settings
const ColorResolution resolution = ColorResolution.R720p;
const int widthSource = 1280;
const int heightSource = 720;
// down sampled resolution
const int widthOutput = 80;
const int heightOutput = 45;
const double scaleFactorWidth = (double)widthOutput / widthSource;
const double scaleFactorHeight = (double)heightOutput / heightSource;
// background subtraction beyond this depth
const double maxDepth = 1.0; // meters
const SensorOrientation initialOrientation = SensorOrientation.Default;
using (var pipeline = Pipeline.Create("AzureKinectSample", DeliveryPolicy.LatestMessage))
{
var azureKinect = new AzureKinectSensor(
pipeline,
new AzureKinectSensorConfiguration()
{
OutputImu = true,
ColorResolution = resolution,
DepthMode = DepthMode.WFOV_Unbinned,
CameraFPS = FPS.FPS15,
BodyTrackerConfiguration = new AzureKinectBodyTrackerConfiguration()
{
CpuOnlyMode = true, // false if CUDA supported GPU available
SensorOrientation = initialOrientation,
},
});
StringBuilder sb = new StringBuilder();
SensorOrientation lastOrientation = (SensorOrientation)(-1); // detect orientation changes
// consuming color, depth, IMU, body tracking, calibration
azureKinect.ColorImage.Resize(widthOutput, heightOutput)
.Join(azureKinect.DepthImage)
.Join(azureKinect.Imu, TimeSpan.FromMilliseconds(10))
.Pair(azureKinect.Bodies)
.Pair(azureKinect.DepthDeviceCalibrationInfo)
.Do(message =>
{
var(color, depth, imu, bodies, calib) = message;
void Start()
{
_KinectSensor = _AzureKinectManager.Sensor;
if (_KinectSensor != null)
{
int depthImageSize = _KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight;
_DepthRawData = new byte[depthImageSize * sizeof(ushort)];
_EncodedDepthData = new byte[depthImageSize];
_DecodedDepthData = new short[depthImageSize];
_Diff = new short[depthImageSize];
_DepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DecodedDepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DiffImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_ColorImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.BGRA32, false);
MeshRenderer depthMeshRenderer = _DepthImageObject.GetComponent <MeshRenderer>();
depthMeshRenderer.sharedMaterial = new Material(_DepthVisualizer);
depthMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _DepthImageTexture);
MeshRenderer decodedDepthMeshRenderer = _DecodedDepthImageObject.GetComponent <MeshRenderer>();
decodedDepthMeshRenderer.sharedMaterial = new Material(_DepthVisualizer);
decodedDepthMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _DecodedDepthImageTexture);
MeshRenderer diffMeshRenderer = _DiffImageObject.GetComponent <MeshRenderer>();
diffMeshRenderer.sharedMaterial = new Material(_DiffVisualizer);
diffMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _DiffImageTexture);
MeshRenderer colorMeshRenderer = _ColorImageObject.GetComponent <MeshRenderer>();
colorMeshRenderer.sharedMaterial = new Material(_UnlitTextureMaterial);
colorMeshRenderer.sharedMaterial.SetTexture("_MainTex", _ColorImageTexture);
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
// _TrvlEncoder = new TemporalRVLEncoder(depthImageSize, 10, 2);
// _TrvlDecoder = new TemporalRVLDecoder(depthImageSize);
_TrvlEncoder = new NativePlugin.TemporalRVLEncoder(depthImageSize, 10, 2);
_TrvlDecoder = new NativePlugin.TemporalRVLDecoder(depthImageSize);
}
}
public void Initialize()
{
_KinectSensor = _AzureKinectManager.Sensor;
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
_DepthImageSize = _KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight;
_DepthRawData = new byte[_DepthImageSize * sizeof(short)];
_Diff = new short[_DepthImageSize];
_EncodedColorImageData = new byte[_DepthImageSize];
_DepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DecodedDepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DiffImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_ColorImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.BGRA32, false);
_TrvlEncoder = new TemporalRVLEncoder(_DepthImageSize, 10, 2);
_TrvlDecoder = new TemporalRVLDecoder(_DepthImageSize);
CameraCalibration deviceDepthCameraCalibration = _KinectSensor.DeviceCalibration.DepthCameraCalibration;
CameraCalibration deviceColorCameraCalibration = _KinectSensor.DeviceCalibration.ColorCameraCalibration;
_Calibration = new K4A.Calibration();
_Calibration.DepthCameraCalibration = CreateCalibrationCamera(deviceDepthCameraCalibration, _KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight);
_Calibration.ColorCameraCalibration = CreateCalibrationCamera(deviceColorCameraCalibration, _KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
_CalibrationType = K4A.CalibrationType.Depth; // Color to depth
_Initialized = true;
}
else
{
Debug.LogError("KinectSensor is null!");
}
}