void Start()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Mapper = _Sensor.CoordinateMapper;
_CameraIntrinsics = _Mapper.GetDepthCameraIntrinsics();
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
// Downsample to lower resolution
CreateMesh(frameDesc.Width / _DownsampleSize, frameDesc.Height / _DownsampleSize);
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
// 初始化参数
colmap = new float[512];
rowmap = new float[424];
for (int i = 0; i < 512; i++)
{
colmap[i] = (i - _CameraIntrinsics.PrincipalPointX + 0.5f) / _CameraIntrinsics.FocalLengthX;
}
for (int i = 0; i < 424; i++)
{
rowmap[i] = (i - _CameraIntrinsics.PrincipalPointY + 0.5f) / _CameraIntrinsics.FocalLengthY;
}
}
void Start()
{
int width = 0, height = 0;
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Mapper = _Sensor.CoordinateMapper;
_CameraIntrinsics = _Mapper.GetDepthCameraIntrinsics();
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
width = frameDesc.Width;
height = frameDesc.Height;
// Downsample to lower resolution
_TrianglesTemplate = CreateMesh(frameDesc.Width / _DownsampleSize, frameDesc.Height / _DownsampleSize);
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
// must be greater than 0, less or equal to 2048 and a multiple of 4.
_Buffer = new ComputeBuffer(_TrianglesTemplate.Length / 3, 60);
_Shader.SetInt("width", width);
_Shader.SetInt("height", height);
_Shader.SetInt("downSampleSize", _DownsampleSize);
_Shader.SetFloat("cx", _CameraIntrinsics.PrincipalPointX);
_Shader.SetFloat("cy", _CameraIntrinsics.PrincipalPointY);
_Shader.SetFloat("fx", _CameraIntrinsics.FocalLengthX);
_Shader.SetFloat("fy", _CameraIntrinsics.FocalLengthY);
}
// Use this for initialization
private void Start()
{
myShader = Shader.Find("Unlit/Texture_color");
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
//get coordinate mapper
_Mapper = _Sensor.CoordinateMapper;
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
//set the camera intrinsics
PrincipalPointX = _Mapper.GetDepthCameraIntrinsics().PrincipalPointX;
PrincipalPointY = _Mapper.GetDepthCameraIntrinsics().PrincipalPointY;
FocalLengthX = _Mapper.GetDepthCameraIntrinsics().FocalLengthX;
FocalLengthY = _Mapper.GetDepthCameraIntrinsics().FocalLengthY;
//get frame Width and Height
W = frameDesc.Width;
H = frameDesc.Height;
//calculate local scaled variables
scaledW = (int)Math.Floor((double)W / skip + 1);
scaledH = (int)Math.Floor((double)H / skip + 1);
//for GUI controls... movie is not recording at start
//started = false;
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
structure = new GameObject("Point Cloud");
structure.transform.parent = gameObject.transform;
structure.transform.localPosition = new Vector3(0, 0, 0);
_MultiManager = MultiSourceManager.GetComponent <MultiSourceManager>();
if (_MultiManager == null)
{
return;
}
elapsedTime = 0;
}
void Start()
{
int width = 0, height = 0;
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Mapper = _Sensor.CoordinateMapper;
_CameraIntrinsics = _Mapper.GetDepthCameraIntrinsics();
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
width = frameDesc.Width;
height = frameDesc.Height;
// Downsample to lower resolution
_TrianglesTemplate = Init(frameDesc.Width / _DownsampleSize, frameDesc.Height / _DownsampleSize);
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
// must be greater than 0, less or equal to 2048 and a multiple of 4.
_Buffer = new ComputeBuffer(_TrianglesTemplate.Length / 3, 36);
// 初始化参数
colmap = new float[512];
rowmap = new float[424];
for (int i = 0; i < 512; i++)
{
colmap[i] = (i - _CameraIntrinsics.PrincipalPointX + 0.5f) / _CameraIntrinsics.FocalLengthX;
}
for (int i = 0; i < 424; i++)
{
rowmap[i] = (i - _CameraIntrinsics.PrincipalPointY + 0.5f) / _CameraIntrinsics.FocalLengthY;
}
_Shader.SetInt("width", width);
_Shader.SetInt("height", height);
_Shader.SetInt("downSampleSize", _DownsampleSize);
_Shader.SetFloat("cx", _CameraIntrinsics.PrincipalPointX);
_Shader.SetFloat("cy", _CameraIntrinsics.PrincipalPointY);
_Shader.SetFloat("fx", _CameraIntrinsics.FocalLengthX);
_Shader.SetFloat("fy", _CameraIntrinsics.FocalLengthY);
_Shader.SetFloat("maxDepthLimit", maxDepthLimit);
_Shader.SetFloat("minDepthLimit", minDepthLimit);
_Shader.SetFloat("distanceThreshold", distanceThreshold);
//_Shader.SetFloats("colmap", colmap);
//_Shader.SetFloats("rowmap", rowmap);
_NumThread = _TrianglesTemplate.Length / 3 / 8;
}
private Point3D get3DPoint(System.Windows.Point depthPoint, ushort[] depthPoints, CoordinateMapper coordinateMapper)
{
unsafe
{
//for (int i = 2000; i < 2020;i++ )
//{
//Console.WriteLine("DEPTHFRAME: {0}", frameData[512*424-1]);
//}
int depthWidth = 512;
int depthHeight = 424;
if (((int)depthPoint.X) + ((int)depthPoint.Y) * depthWidth < depthWidth * depthHeight && depthPoint.X > 0 && depthPoint.Y > 0)
{
//Console.WriteLine("lalala {0} , {1}", (((int)depthPoint.X) + ((int)depthPoint.Y) * depthWidth), depthPoints[((int)depthPoint.X) + ((int)depthPoint.Y) * depthWidth]);
double Z = (-1) * depthPoints[((int)depthPoint.X) + ((int)depthPoint.Y) * depthWidth];
double X = (((double)Z) * (depthPoint.X - coordinateMapper.GetDepthCameraIntrinsics().PrincipalPointX)) / coordinateMapper.GetDepthCameraIntrinsics().FocalLengthX;
double Y = (((double)Z) * (depthPoint.Y - coordinateMapper.GetDepthCameraIntrinsics().PrincipalPointY)) / coordinateMapper.GetDepthCameraIntrinsics().FocalLengthY;
return(new Point3D(X, Y, Z));
}
}
return(new Point3D(-1, -1, -1));
}
void Start()
{
int width = 0, height = 0;
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Mapper = _Sensor.CoordinateMapper;
_CameraIntrinsics = _Mapper.GetDepthCameraIntrinsics();
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
width = frameDesc.Width;
height = frameDesc.Height;
// Downsample to lower resolution
_TrianglesTemplate = CreateMesh(frameDesc.Width / _DownsampleSize, frameDesc.Height / _DownsampleSize);
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
// must be greater than 0, less or equal to 2048 and a multiple of 4.
_Buffer = new ComputeBuffer(_TrianglesTemplate.Length / 6, 60);
}
// Constructor
public FrameManager()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Mapper = _Sensor.CoordinateMapper;
_Reader = _Sensor.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth);
var depthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
DepthWidth = depthFrameDesc.Width;
DepthHeight = depthFrameDesc.Height;
DepthData_full = new ushort[depthFrameDesc.LengthInPixels];
DepthData = new ushort[depthFrameDesc.LengthInPixels / (defines.DOWNSAMPLE * defines.DOWNSAMPLE)];
//DepthRaw = new byte[depthFrameDesc.LengthInPixels * 4];
//DepthTexture_full = new Texture2D( DepthWidth, DepthHeight, TextureFormat.RGBA32, false );
// Set FrameWidth and FrameHeight to the downsampled size
Width = DepthWidth / defines.DOWNSAMPLE;
Height = DepthHeight / defines.DOWNSAMPLE;
var colorFrameDesc = _Sensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
ColorWidth = colorFrameDesc.Width;
ColorHeight = colorFrameDesc.Height;
ColorData_full = new byte[colorFrameDesc.BytesPerPixel * colorFrameDesc.LengthInPixels];
ColorData = new byte[colorFrameDesc.BytesPerPixel * Width * Height];
ColorTexture_full = new Texture2D(ColorWidth, ColorHeight, TextureFormat.RGBA32, false);
ColorTexture = new Texture2D(Width, Height, TextureFormat.RGBA32, false);
ColorTextureVisual = new Texture2D(Width, Height, TextureFormat.RGBA32, false);
//PfImage = new Texture2D( Width, Height, TextureFormat.RGBA32, false );
// Set buffers to align depth data to RGB and to align camera points
ColorPoints_full = new ColorSpacePoint[depthFrameDesc.LengthInPixels];
Camera3DPoints_full = new CameraSpacePoint[DepthWidth * DepthHeight];
Camera3DPoints = new CameraSpacePoint[Width * Height];
PfVec = new float[Width * Height];
Mask = new short[Width * Height];
// Save camera intrinsics matrix
CameraIntrinsics intrinsics = _Mapper.GetDepthCameraIntrinsics();
K = new Matrix4x4();
K.m00 = intrinsics.FocalLengthX / defines.DOWNSAMPLE;
K.m01 = 0;
K.m02 = intrinsics.PrincipalPointX / defines.DOWNSAMPLE;
K.m10 = 0;
K.m11 = intrinsics.FocalLengthY / defines.DOWNSAMPLE;
K.m12 = intrinsics.PrincipalPointY / defines.DOWNSAMPLE;
K.m20 = 0; K.m21 = 0;
K.m22 = 1.0f;// / defines.DOWNSAMPLE;
// TODO print K
Debug.Log("K = " + K);
Debug.Log("Color Width: " + ColorWidth + " Color Height: " + ColorHeight);
Debug.Log("Depth Width: " + DepthWidth + " Depth Height: " + DepthHeight);
Debug.Log(" Width: " + Width + " Height: " + Height);
// Initialize color histogram
histogram = new ColorHistogram(defines.HISTOGRAM_NBIN, Width, Height);
HistogramTexture = new Texture2D(4, 4, TextureFormat.RFloat, false);
//Debug.Log( HistogramTexture.width );
//Debug.Log( HistogramTexture.height );
//Debug.Log( histogram.posterior.Length );
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
}
