unsafe void UpdateFusionFrame()
{
//KinectのDepthImageデータからFusionのDepthImageFrameを作成
reconstruction.DepthToDepthFloatFrame(depthImagePixels, depthImageFrame,
FusionDepthProcessor.DefaultMinimumDepth, FusionDepthProcessor.DefaultMaximumDepth, true);
//depthImageFrameに平滑化をかけてsmoothDepthFrameに格納
reconstruction.SmoothDepthFloatFrame(depthImageFrame, smoothDepthImageFrame, SmoothingKernelWidth, SmoothingDistanceThreshold);
//色情報を取得するためにDepthImage各点のColorImageでの位置を計算
ColorSpacePoint[] points = new ColorSpacePoint[depthWidth * depthHeight];
coordinateMapper.MapDepthFrameToColorSpace(depthImagePixels, points);
//colorImageFrameBufferに色情報を格納
int[] colorImageFrameBuffer = new int[depthWidth * depthHeight];
fixed(byte *ptrColorImagePixels = colorImagePixels)
{
int *rawColorPixels = (int *)ptrColorImagePixels;
Parallel.For(0, depthHeight,
y =>
{
for (int x = 0; x < depthWidth; x++)
{
int index = y * depthWidth + x;
ColorSpacePoint point = points[index];
int colorX = (int)(Math.Ceiling(point.X));
int colorY = (int)(Math.Ceiling(point.Y));
if ((colorX >= 0) && (colorX < colorWidth) && (colorY >= 0) && (colorY < colorHeight))
{
colorImageFrameBuffer[index] = rawColorPixels[colorY * colorWidth + colorX];
}
}
});
}
//colorImageFrameBufferからFusionのcolorImageFrameを作成
colorImageFrame.CopyPixelDataFrom(colorImageFrameBuffer);
//現在のカメラ位置や角度の情報を計算に反映させるため、worldToCameraTransformを最新に更新
worldToCameraTransform = reconstruction.GetCurrentWorldToCameraTransform();
//最新のsmoothDepthImageFrame,colorImageFrameをFusionのReconstructionオブジェクトに反映
float alignmentEnergy = 0.0f;
bool ret = reconstruction.ProcessFrame(smoothDepthImageFrame, colorImageFrame, FusionDepthProcessor.DefaultAlignIterationCount,
FusionDepthProcessor.DefaultIntegrationWeight, FusionDepthProcessor.DefaultColorIntegrationOfAllAngles,
out alignmentEnergy, worldToCameraTransform);
//反映結果がエラーならカウントし、カウンタが100を越えたら初めからやり直す
if (!ret)
{
if (++errorCount >= 100)
{
errorCount = 0;
reset();
}
}
//結果を格納
result();
}
// Update is called once per frame
void Update()
{
if (_Sensor == null || _ColorSourceManager == null || _DepthSourceManager == null)
{
return;
}
Mat colorMat = _ColorSourceManager.GetColorMat();
ushort[] depthData = _DepthSourceManager.GetData();
_colorTexture = _ColorSourceManager.GetColorTexture();
if (_mapperMat == null)
{
_mapperMat = new Mat(_colorTexture.height, _colorTexture.width, CvType.CV_8UC3);
}
//mapper
colorSpace = new ColorSpacePoint[depthData.Length];
depthSpace = new DepthSpacePoint[_colorTexture.width * _colorTexture.height];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
_Mapper.MapColorFrameToDepthSpace(depthData, depthSpace);
//_mapperMat = colorMat;
}
private void CoodinateMapping()
{
// Depth座標系のカラー位置と、Depth座標系とカメラ座標系の対応を作る
mapper.MapDepthFrameToColorSpace(depthBuffer, depthColorPoints);
mapper.MapDepthFrameToCameraSpace(depthBuffer, cameraPoints);
Parallel.For(0, depthFrameDesc.LengthInPixels, i =>
{
PointCloud[i].Clear();
// カラーバッファの位置
int colorX = (int)depthColorPoints[i].X;
int colorY = (int)depthColorPoints[i].Y;
if ((colorX < 0) || (colorFrameDesc.Width <= colorX) || (colorY < 0) || (colorFrameDesc.Height <= colorY))
{
return;
}
PointCloud[i].X = cameraPoints[i].X;
PointCloud[i].Y = cameraPoints[i].Y;
PointCloud[i].Z = cameraPoints[i].Z;
int colorIndex = (int)(((colorY * colorFrameDesc.Width) + colorX) * colorFrameDesc.BytesPerPixel);
PointCloud[i].B = colorBuffer[colorIndex + 0];
PointCloud[i].G = colorBuffer[colorIndex + 1];
PointCloud[i].R = colorBuffer[colorIndex + 2];
});
}
/// <summary>
/// Kinectにつないでる時だけ使えるコンストラクタ
/// </summary>
/// <param name="originalCoordinateMapper"></param>
/// <param name="depthWidth"></param>
/// <param name="depthHeight"></param>
public LocalCoordinateMapper(CoordinateMapper originalCoordinateMapper, int depthWidth, int depthHeight)
{
this.depthWidth = depthWidth;
this.depthHeight = depthHeight;
this.depthFrameToCameraSpaceTable = originalCoordinateMapper.GetDepthFrameToCameraSpaceTable();
int length = depthWidth * depthHeight;
ushort[] depthBuffer = new ushort[length];
ColorSpacePoint[] colorSpacePoints = new ColorSpacePoint[length];
this.depthFrameToColorSpacfeTable = new PointF[length];
int depth = 1500; // なんでもいい
for (int i = 0; i < length; i++)
{
depthBuffer[i] = (ushort)depth;
}
originalCoordinateMapper.MapDepthFrameToColorSpace(depthBuffer, colorSpacePoints);
for (int i = 0; i < length; i++)
{
PointF tempP = new PointF();
tempP.X = (float)(colorSpacePoints[i].X - D / depth);
tempP.Y = colorSpacePoints[i].Y;
this.depthFrameToColorSpacfeTable[i] = tempP;
}
Debug.WriteLine(1);
}
private void RefreshData(ushort[] depthData, int colorWidth, int colorHeight)
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
{
for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
{
int indexX = x / _DownsampleSize;
int indexY = y / _DownsampleSize;
int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX;
double avg = GetAvg(depthData, x, y, frameDesc.Width, frameDesc.Height);
avg = avg * _DepthScale;
_Vertices[smallIndex].z = (float)avg;
// Update UV mapping with CDRP
var colorSpacePoint = colorSpace[(y * frameDesc.Width) + x];
_UV[smallIndex] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
}
}
_Mesh.vertices = _Vertices;
_Mesh.uv = _UV;
_Mesh.triangles = _Triangles;
_Mesh.RecalculateNormals();
}
private List <ValidPoint> DepthToColor()
{
// Points to return
List <ValidPoint> validPoints = new List <ValidPoint>();
// Get Data
mDepthData = mMultiSource.GetDepthData();
// Map
mMapper.MapDepthFrameToCameraSpace(mDepthData, mCameraSpacePoints);
mMapper.MapDepthFrameToColorSpace(mDepthData, mColorSpacePoints);
// Filter
for (int i = 0; i < mDepthResolution.x; i++)
{
for (int j = 0; j < mDepthResolution.y / 8; j++)
{
// Sample index
int sampleIndex = (j * mDepthResolution.x) + i;
sampleIndex *= 8;
// Cutoff tests
if (mCameraSpacePoints[sampleIndex].X < mLeftCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].X > mRightCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y > mTopCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y < mBottomCutOff)
{
continue;
}
// Create point
ValidPoint newPoint = new ValidPoint(mColorSpacePoints[sampleIndex], mCameraSpacePoints[sampleIndex].Z);
// Depth test
if (mCameraSpacePoints[sampleIndex].Z >= mWallDepth)
{
newPoint.mWithinWallDepth = true;
}
// Add
validPoints.Add(newPoint);
}
}
return(validPoints);
}
private void RefreshData(ushort[] depthData, int colorWidth, int colorHeight)
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
// shader输入参数
tri[] values = new tri[_TrianglesTemplate.Length / 3];
for (int i = 0; i < _TrianglesTemplate.Length / 3; i++)
{
values[i].index1 = _TrianglesTemplate[i * 3 + 0];
values[i].index2 = _TrianglesTemplate[i * 3 + 1];
values[i].index3 = _TrianglesTemplate[i * 3 + 2];
values[i].depth1 = (int)depthData[IndexTrans(values[i].index1, _DownsampleSize, frameDesc.Width, frameDesc.Height)] / 1000.0f;
values[i].depth2 = (int)depthData[IndexTrans(values[i].index2, _DownsampleSize, frameDesc.Width, frameDesc.Height)] / 1000.0f;
values[i].depth3 = (int)depthData[IndexTrans(values[i].index3, _DownsampleSize, frameDesc.Width, frameDesc.Height)] / 1000.0f;
values[i].p1 = new Vector3(0, 0, 0);
values[i].p2 = new Vector3(0, 0, 0);
values[i].p3 = new Vector3(0, 0, 0);
}
// compute shader计算
_Buffer.SetData(values);
Dispatch(frameDesc.Width, frameDesc.Height);
// 根据Shader返回的buffer数据更新mesh
tri[] result = new tri[_TrianglesTemplate.Length / 3];
_Buffer.GetData(result);
_Vertices = new Vector3[_TrianglesTemplate.Length];
_Vertices = new Vector3[_TrianglesTemplate.Length];
for (int i = 0; i < result.Length; i++)
{
_Vertices[i * 3 + 0] = result[i].p1;
_Vertices[i * 3 + 1] = result[i].p2;
_Vertices[i * 3 + 2] = result[i].p3;
var colorSpacePoint = colorSpace[IndexTrans(result[i].index1, _DownsampleSize, frameDesc.Width, frameDesc.Height)];
_UV[i * 3 + 0] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
colorSpacePoint = colorSpace[IndexTrans(result[i].index2, _DownsampleSize, frameDesc.Width, frameDesc.Height)];
_UV[i * 3 + 1] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
colorSpacePoint = colorSpace[IndexTrans(result[i].index3, _DownsampleSize, frameDesc.Width, frameDesc.Height)];
_UV[i * 3 + 2] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
_Triangles[i * 3 + 0] = result[i].index1;
_Triangles[i * 3 + 1] = result[i].index2;
_Triangles[i * 3 + 2] = result[i].index3;
}
_Mesh.vertices = _Vertices;
_Mesh.uv = _UV;
_Mesh.triangles = _Triangles;
_Mesh.RecalculateNormals();
}
private List <ValidPoint> DepthToColour()
{
//Get Depth Data
mDepthData = mMultiSource.GetDepthData();
//Map Depth Data
mMapper.MapDepthFrameToCameraSpace(mDepthData, mCameraSpacePoints);
mMapper.MapDepthFrameToColorSpace(mDepthData, mColorSpacePoints);
//Points to return
List <ValidPoint> validPoints = new List <ValidPoint>();
// Filter
for (int i = 0; i < mDepthResolution.x / 8; i++)
{
//Divide by 8 to avoid index out of bounds
for (int j = 0; j < mDepthResolution.y / 8; j++)
{
//downsample all of the points to help it run better
//go through one dimensional array of camera points
int sampleIndex = (j * mDepthResolution.x) + i;
//Skip over 8 values between each point
sampleIndex *= 8;
//Cut off tests
if (mCameraSpacePoints[sampleIndex].X < mLeftCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].X > mRightCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y > mTopCutOff)
{
continue;
}
if (mCameraSpacePoints[sampleIndex].Y < mBottomCutOff)
{
continue;
}
//Create a new valid point
ValidPoint newPoint = new ValidPoint(mColorSpacePoints[sampleIndex], mCameraSpacePoints[sampleIndex].Z);
//Depth Test
if (mCameraSpacePoints[sampleIndex].Z >= mWallDepth)
{
newPoint.mWithinWallDepth = true;
}
//Add out new pont to valid points
validPoints.Add(newPoint);
}
}
return(validPoints);
}
/// <summary>
/// creates color info for all DEPTH pixels (to later e.g. write ply file from it)
/// </summary>
/// <param name="myColorMetaData"></param>
/// <param name="myDepthMetaData"></param>
/// <param name="myCoordinateMapper"></param>
/// <returns></returns>
public static byte[] ColorInfoForDepth(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, CoordinateMapper myCoordinateMapper)
{
//Test_GetCameraPoints(myDepthMetaData, myCoordinateMapper);
byte[] mydisplayPixels = new byte[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect * MetaDataBase.BYTES_PER_PIXEL];
//mapped data
int numberOfPoints = 0;
int notMappedPixels = -1;
if (myColorMetaData != null)
{
ColorSpacePoint[] mycolorPointsInDepthSpace = new ColorSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
myCoordinateMapper.MapDepthFrameToColorSpace(myDepthMetaData.FrameData, mycolorPointsInDepthSpace);
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; ++x)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; ++y)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
if (myDepthMetaData.FrameData[depthIndex] != 0)
{
ColorSpacePoint colorPoint = mycolorPointsInDepthSpace[depthIndex];
int xColor = Convert.ToInt32(colorPoint.X);
int yColor = Convert.ToInt32(colorPoint.Y);
int depthIndexColor = depthIndex * MetaDataBase.BYTES_PER_PIXEL;
if ((xColor >= 0) && (xColor < ColorMetaData.XColorMaxKinect) && (yColor >= 0) && (yColor < ColorMetaData.YColorMaxKinect))
{
int colorIndex = ((yColor * ColorMetaData.XColorMaxKinect) + xColor) * MetaDataBase.BYTES_PER_PIXEL;
mydisplayPixels[depthIndexColor + 0] = myColorMetaData.Pixels[colorIndex];
mydisplayPixels[depthIndexColor + 1] = myColorMetaData.Pixels[colorIndex + 1];
mydisplayPixels[depthIndexColor + 2] = myColorMetaData.Pixels[colorIndex + 2];
mydisplayPixels[depthIndexColor + 3] = 0xff;
numberOfPoints++;
}
else
{
notMappedPixels++;
mydisplayPixels[depthIndexColor + 0] = 255;
mydisplayPixels[depthIndexColor + 1] = 255;
mydisplayPixels[depthIndexColor + 2] = 255;
mydisplayPixels[depthIndexColor + 3] = 0xff;
}
}
}
}
}
//System.Diagnostics.Debug.WriteLine("---------> Number of Depth points: " + numberOfPoints.ToString());
return(mydisplayPixels);
}
private void RefreshData(ushort[] depthData, int colorWidth, int colorHeight)
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
if (backgroundRemoval)
{
bodyIndexData = _MultiManager.GetBodyIndexData();
for (int y = 0; y < frameDesc.Height; y++)
{
for (int x = 0; x < frameDesc.Width; x++)
{
int bodyIndex = y * frameDesc.Width + x;
byte player = bodyIndexData [bodyIndex];
if (player == 0xFF)
{
depthData [bodyIndex] = 0;
}
}
}
}
///flip vertices
//for(int y = 0; y < frameDesc.Height; y++)
for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
{
for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
{
int indexX = x / _DownsampleSize;
int indexY = y / _DownsampleSize;
int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX;
double avg = GetAvg(depthData, x, y, frameDesc.Width, frameDesc.Height);
avg = avg * _DepthScale;
_Vertices[smallIndex].z = (float)avg;
var colorSpacePoint = colorSpace[(y * frameDesc.Width) + x];
// Update UV mapping with CDRP
if (colorSpacePoint.X != -1.0f && colorSpacePoint.Y != 1.0f)
{
_UV[smallIndex] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
}
//_UV[smallIndex] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
}
}
_Mesh.vertices = _Vertices;
_Mesh.uv = _UV;
_Mesh.triangles = _Triangles;
_Mesh.RecalculateNormals();
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
var colorFrame = frame.ColorFrameReference.AcquireFrame();
if (colorFrame != null)
{
var depthFrame = frame.DepthFrameReference.AcquireFrame();
if (depthFrame != null)
{
// Populate arrays - Save all required data
colorFrame.CopyConvertedFrameDataToArray(_ColorData, ColorImageFormat.Rgba);
depthFrame.CopyFrameDataToArray(_DepthData);
// Map to color from depth frame
_Mapper.MapDepthFrameToColorSpace(_DepthData, _ColorPoints);
// Clip the depth frame
EvaluateDepthData();
// Clip the color frame
EvaluateColorData();
// Get chosen depth data from initial depth data.
DSPDepthData();
// Get chosen color data from initial color data.
DSPColorData();
// Apply Color Texture
_ColorTexture.LoadRawTextureData(_ColorData);
_ColorTexture.Apply();
// Apply Clipped Color Texture
_ClippedColorTexture.LoadRawTextureData(_ClippedColorData);
_ClippedColorTexture.Apply();
// Apply Chosen Color Texture
_ChosenColorTexture.LoadRawTextureData(_ChosenColorData);
_ChosenColorTexture.Apply();
depthFrame.Dispose();
depthFrame = null;
}
colorFrame.Dispose();
colorFrame = null;
}
frame = null;
}
}
}
/// <summary>
/// Densely store depth to color mapping as BLKD.
///
/// Returns the number of shorts written to buffer.
/// </summary>
/// <param name="frame">KinectScanner.Reading.Frame</param>
/// <param name="filename">filename to store the mapping</param>
/// <returns></returns>
public Tuple <Blkd, TimeSpan> CaptureMappedFrame(LiveFrame frame, byte[] buffer)
{
DepthFrame depthFrame = frame.NativeDepthFrame;
CoordinateMapper mapper = frame.NativeCoordinateMapper;
if (buffer.Length != Frame.DEPTH_INFRARED_PIXELS * DEPTH_MAPPING_BYTES_PER_PIXEL)
{
throw new ArgumentException(string.Format("Buffer length is {0} but {1} is needed", buffer.LongLength, Frame.DEPTH_INFRARED_PIXELS * DEPTH_MAPPING_BYTES_PER_PIXEL));
}
depthFrame.CopyFrameDataToArray(_depthData);
mapper.MapDepthFrameToColorSpace(_depthData, _colorPoints);
mapper.MapDepthFrameToCameraSpace(_depthData, _cameraSpacePoints);
Array.Clear(buffer, 0, buffer.Length);
int count = 0;
for (int i = 0; i < Frame.DEPTH_INFRARED_PIXELS; ++i)
{
ColorSpacePoint colorPoint = _colorPoints[i];
CameraSpacePoint cameraPoint = _cameraSpacePoints[i];
// make sure the depth pixel maps to a valid point in color space
short colorX = (short)Math.Floor(colorPoint.X + 0.5);
short colorY = (short)Math.Floor(colorPoint.Y + 0.5);
if (colorX < 0 || colorX >= Frame.COLOR_WIDTH || colorY < 0 || colorY >= Frame.COLOR_HEIGHT)
{
colorX = -1;
colorY = -1;
}
// Little endian === lowest order bytes at lower addresses
buffer[count++] = (byte)(colorX >> 0);
buffer[count++] = (byte)(colorX >> 8);
buffer[count++] = (byte)(colorY >> 0);
buffer[count++] = (byte)(colorY >> 8);
float[] cameraPointValues = new float[] { cameraPoint.X, cameraPoint.Y, cameraPoint.Z };
System.Buffer.BlockCopy(cameraPointValues, 0, buffer, count, 12);
count += 12;
}
Blkd result = new Blkd
{
Width = (UInt16)Frame.DEPTH_INFRARED_WIDTH,
Height = (UInt16)Frame.DEPTH_INFRARED_HEIGHT,
BytesPerPixel = DEPTH_MAPPING_BYTES_PER_PIXEL,
Version = 2,
Data = buffer
};
return(new Tuple <Blkd, TimeSpan>(result, depthFrame.RelativeTime));
}
/// <summary>
/// Update kinect data in multithread
/// </summary>
private void UpdateKinectData()
{
bool _done = false;
Chrono chrono = new Chrono();
chrono.Start();
double dt = 0.033;
double next_schedule = 0.0;
Debug.Log("Kinect acquisition started");
while (!_done)
{
double current_time = chrono.GetElapsedTime();
if (current_time > next_schedule)
{
next_schedule += dt;
// Get depth map
UpdateDepthData();
// Get color map
UpdateColorData();
// Convert depth map into point cloud
_cameraSpace = new CameraSpacePoint[_depthData.Length];
lock (_cameraSpace)
{
_mapper.MapDepthFrameToCameraSpace(_depthData, _cameraSpace);
}
// Map depth map to color map
_colorSpace = new ColorSpacePoint[_depthData.Length];
lock (_colorSpace)
{
_mapper.MapDepthFrameToColorSpace(_depthData, _colorSpace);
}
}
lock (doneLock)
{
_done = done;
}
Thread.Sleep(0);
}
Debug.Log("Kinect acquisition stopped");
}
private List <ValidPoint> DepthToColor()
{
List <ValidPoint> ValidPoints = new List <ValidPoint>();
//Get depth
mDepthData = mMultiSource.GetDepthData();
mMapper.MapDepthFrameToCameraSpace(mDepthData, mCameraSapcePoints);
mMapper.MapDepthFrameToColorSpace(mDepthData, mColorSpacePoints);
//Filter
for (int i = 0; i < mDepthResolution.x / 8; i++)
{
for (int j = 0; j < mDepthResolution.y / 8; j++)
{
int sampleIndex = (j * mDepthResolution.x) + i;
sampleIndex *= 8;
//CutoffTests
if (mCameraSapcePoints[sampleIndex].X < mLeftCutOff)
{
continue;
}
if (mCameraSapcePoints[sampleIndex].X > mRigthCutOff)
{
continue;
}
if (mCameraSapcePoints[sampleIndex].Y > mTopCutOff)
{
continue;
}
if (mCameraSapcePoints[sampleIndex].Y < mBottomCutOff)
{
continue;
}
ValidPoint newPoint = new ValidPoint(mColorSpacePoints[sampleIndex], mCameraSapcePoints[sampleIndex].Z);
if (mCameraSapcePoints[sampleIndex].Z >= mWallDepth)
{
newPoint.mWithinWallDepth = true;
}
ValidPoints.Add(newPoint);
}
}
return(ValidPoints);
}
private void RefreshData()
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
_Mapper.MapDepthFrameToCameraSpace(_Data, camSpace);
_Mapper.MapDepthFrameToColorSpace(_Data, colorSpace);
for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
{
for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
{
int indexX = x / _DownsampleSize;
int indexY = y / _DownsampleSize;
int realIndex = y * frameDesc.Width + x;
int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX;
//double avg = GetAvg(_Data, x, y, frameDesc.Width, frameDesc.Height);
//avg = avg * _DepthScale + _Offset.z;
//_Vertices[smallIndex].z = (float)avg;
CameraSpacePoint p = camSpace[realIndex];
Vector3 targetP = (new Vector3(p.X, p.Y, p.Z) + _Offset) * _Scale;
if (float.IsInfinity(_Vertices[smallIndex].z))
{
_Vertices[smallIndex] = targetP;
}
else
{
_Vertices[smallIndex] = _Vertices[smallIndex] + (targetP - _Vertices[smallIndex]) * motionSmooth;// _OldVertices[smallIndex] + (targetP - _OldVertices[smallIndex]) / motionSmooth ;
}
// Update UV mapping with CDRP
var colorSpacePoint = colorSpace[(y * frameDesc.Width) + x];
_UV[smallIndex] = new Vector2(colorSpacePoint.X * 1.0f / 1920, colorSpacePoint.Y * 1.0f / 1080);
}
}
_Mesh.vertices = _Vertices;
_Mesh.uv = _UV;
_Mesh.triangles = _Triangles;
_Mesh.RecalculateNormals();
}
private void DrawDepthCoodinate()
{
// Depth画像の解像度でデータを作る
var colorImageBuffer = new byte[depthFrameDesc.LengthInPixels *
colorFrameDesc.BytesPerPixel];
// Depth座標系に対応するカラー座標系の一覧を取得する
var colorSpace = new ColorSpacePoint[depthFrameDesc.LengthInPixels];
mapper.MapDepthFrameToColorSpace(depthBuffer, colorSpace);
// 並列で処理する
Parallel.For(0, depthFrameDesc.LengthInPixels, i =>
{
int colorX = (int)colorSpace[i].X;
int colorY = (int)colorSpace[i].Y;
if ((colorX < 0) || (colorFrameDesc.Width <= colorX) ||
(colorY < 0) || (colorFrameDesc.Height <= colorY))
{
return;
}
// カラー座標系のインデックス
int colorIndex = (colorY * colorFrameDesc.Width) + colorX;
int bodyIndex = bodyIndexBuffer[i];
// 人を検出した位置だけ色を付ける
if (bodyIndex == 255)
{
return;
}
// カラー画像を設定する
int colorImageIndex = (int)(i * colorFrameDesc.BytesPerPixel);
int colorBufferIndex = (int)(colorIndex * colorFrameDesc.BytesPerPixel);
colorImageBuffer[colorImageIndex + 0] = colorBuffer[colorBufferIndex + 0];
colorImageBuffer[colorImageIndex + 1] = colorBuffer[colorBufferIndex + 1];
colorImageBuffer[colorImageIndex + 2] = colorBuffer[colorBufferIndex + 2];
});
ImageColor.Source = BitmapSource.Create(
depthFrameDesc.Width, depthFrameDesc.Height, 96, 96,
PixelFormats.Bgr32, null, colorImageBuffer,
(int)(depthFrameDesc.Width * colorFrameDesc.BytesPerPixel));
}
unsafe void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
fixed(byte *pData = _Data)
{
frame.CopyFrameDataToIntPtr(new System.IntPtr(pData), (uint)_Data.Length);
}
frame.CopyFrameDataToArray(_sData);
_DepthTexture.LoadRawTextureData(_Data);
ColorSpacePoint[] colorSpace = new ColorSpacePoint[_sData.Length];
_Mapper.MapDepthFrameToColorSpace(_sData, colorSpace);
Color32[] pixels = _UVTexture.GetPixels32();
for (int i = 0; i < colorSpace.Length; i++)
{
pixels[i].r = (byte)((colorSpace[i].X / 1920) * 255); //ranges from 0 to 255
float remainderX = colorSpace[i].X / 1920 * 255 - pixels[i].r;
pixels[i].b = (byte)(remainderX * 255);
pixels[i].g = (byte)((colorSpace[i].Y / 1080) * 255);
float remainderY = colorSpace[i].Y / 1080 * 255 - pixels[i].g;
pixels[i].a = (byte)(remainderY * 255);
}
_UVTexture.SetPixels32(pixels);
_UVTexture.Apply();
_DepthTexture.Apply();
frame.Dispose();
frame = null;
}
}
}
/// <summary>
/// creates color info for all DEPTH pixels (to later e.g. write ply file from it)
/// </summary>
/// <param name="myColorMetaData"></param>
/// <param name="myDepthMetaData"></param>
/// <param name="myCoordinateMapper"></param>
/// <returns></returns>
public static PointCloud ToPointCloud(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData, CoordinateMapper myCoordinateMapper)
{
if (myColorMetaData == null && myDepthMetaData == null)
{
return(null);
}
ColorSpacePoint[] mycolorPointsInDepthSpace = new ColorSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
CameraSpacePoint[] myRealWorldPoints = new CameraSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
myCoordinateMapper.MapDepthFrameToCameraSpace(myDepthMetaData.FrameData, myRealWorldPoints);
myCoordinateMapper.MapDepthFrameToColorSpace(myDepthMetaData.FrameData, mycolorPointsInDepthSpace);
if (myColorMetaData != null)
{
return(PointCloudWithColorParallel(mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData, myDepthMetaData, myBodyMetaData));
}
else
{
return(PointCloudBW(myRealWorldPoints, myDepthMetaData, myBodyMetaData));
}
}
private void UpdateData(ushort[] depthData, Texture2D colorData, int colorWidth, int colorHeight)
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
CameraSpacePoint[] cameraSpace = new CameraSpacePoint[depthData.Length];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
_Mapper.MapDepthFrameToCameraSpace(depthData, cameraSpace);
for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
{
for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
{
int indexX = x / _DownsampleSize;
int indexY = y / _DownsampleSize;
int offsetX = x + offset;
int offsetY = y + offset;
int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX;
int fullIndex = (offsetY * frameDesc.Width) + offsetX;
_Vertices[smallIndex].z = cameraSpace[fullIndex].Z - 1;
if (cameraSpace[fullIndex].X > -1000 && cameraSpace[smallIndex].X < 1000)
{
_Vertices[smallIndex].x = cameraSpace[fullIndex].X;
}
if (cameraSpace[fullIndex].Y > -1000 && cameraSpace[fullIndex].Y < 1000)
{
_Vertices[smallIndex].y = cameraSpace[fullIndex].Y;
}
var colorSpacePoint = colorSpace[(y * frameDesc.Width) + x];
_Colors[smallIndex] = colorData.GetPixel((int)colorSpacePoint.X, (int)colorSpacePoint.Y);
}
}
_Mesh.vertices = _Vertices;
_Mesh.colors = _Colors;
_Mesh.SetIndices(_Indices, MeshTopology.Points, 0);
}
void Update()
{
// Back to main menu
if (Input.GetKeyDown(KeyCode.Escape))
{
UnityEngine.SceneManagement.SceneManager.LoadScene("MainMenu");
}
_multiManager = KinectSource.GetComponent <MultiSourceManager>();
if (_sensor == null || KinectSource == null || _multiManager == null)
{
return;
}
var depthData = _multiManager.GetDepthData();
ColorSpacePoint[] colorSpacePoints = new ColorSpacePoint[depthData.Length];
_mapper.MapDepthFrameToColorSpace(depthData, colorSpacePoints);
_kinectMesh.LoadDepthData(depthData, _multiManager.GetColorTexture(), colorSpacePoints, _multiManager.ColorWidth, _multiManager.ColorHeight);
}
void updateMesh()
{
GetComponent <Renderer>().material.mainTexture = SourceManager.getColorTexture();
ushort[] depthData = SourceManager.getDepthData();
if (depthData != null)
{
int depthWidth = SourceManager.getDepthWidth();
int depthHeight = SourceManager.getDepthHeight();
int colorWidth = SourceManager.getColorWidth();
int colorHeight = SourceManager.getColorHeight();
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
for (int y = 0; y < depthHeight; y += DOWNSAMPLE)
{
for (int x = 0; x < depthWidth; x += DOWNSAMPLE)
{
int index = (y / DOWNSAMPLE) * (depthWidth / DOWNSAMPLE) + (x / DOWNSAMPLE);
vertices[index].z = getAvgDepth(depthData, x, y, depthWidth, depthHeight) * M_PER_MM;
vertices[index].x = vertices[index].z * TAN_HALF_H_FOV * (2.0f * x / depthWidth - 1.0f);
vertices[index].y = vertices[index].z * TAN_HALF_V_FOV * -(2.0f * y / depthHeight - 1.0f);
vertices[index].z -= MAX_DISTANCE;
ColorSpacePoint colorSpacePoint = colorSpace[y * depthWidth + x];
uv[index] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
}
}
transform.position = new Vector3(0f, 0f, MAX_DISTANCE); //To evade the near clipping planes
mesh.vertices = vertices;
mesh.uv = uv;
mesh.triangles = triangles;
mesh.RecalculateNormals();
}
}
public override void saveNextFrame()
{
var entry = Frames.Dequeue();
var colorEntry = ColorFrames.Dequeue();
var colorFrame = colorEntry.Resource;
mapper.MapDepthFrameToColorSpace(entry.Resource, points);
Array.Clear(output, 0, output.Length);
for (var y = 0; y < Recorder.DEPTH_HEIGHT; y++)
{
for (var x = 0; x < Recorder.DEPTH_WIDTH; x++)
{
int depthIndex = x + (y * Recorder.DEPTH_WIDTH);
var cPoint = points[depthIndex];
int colorX = (int)Math.Floor(cPoint.X + 0.5);
int colorY = (int)Math.Floor(cPoint.Y + 0.5);
if ((colorX >= 0) && (colorX < Recorder.COLOR_WIDTH) && (colorY >= 0) && (colorY < Recorder.COLOR_HEIGHT))
{
int colorIndex = ((colorY * Recorder.COLOR_WIDTH) + colorX) * 4;
int displayIndex = depthIndex * 4;
output[displayIndex + 0] = colorFrame[colorIndex];
output[displayIndex + 1] = colorFrame[colorIndex + 1];
output[displayIndex + 2] = colorFrame[colorIndex + 2];
output[displayIndex + 3] = 0xff;
}
}
}
var trackedFramePath = Path.Combine(CurrentDirectory, CurrentFrame.ToString() + ".uint8");
File.WriteAllBytes(trackedFramePath, output);
entry.Free();
colorEntry.Free();
}
//透過不同模式所傳入的資料來源將從不同的Script匯入該Function中，去運算每次Update中所得到的Mesh。
private void RefreshData(ushort[] depthData, int colorWidth, int colorHeight)
{
Debug.Log("W = " + colorWidth);
Debug.Log("H = " + colorHeight);
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
Debug.Log("Old " + depthData.Length);
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
Debug.Log("New " + depthData.Length);
for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
{
for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
{
int indexX = x / _DownsampleSize; //Mesh的X軸點數。
int indexY = y / _DownsampleSize; //Mesh的Y軸點數。
int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX; //Mesh的所有點數以一維方式排列所取得的總數。
double avg = GetAvg(depthData, x, y, frameDesc.Width, frameDesc.Height); //計算每4X4個Pixel的深度平均值。
avg = avg * _DepthScale; //降低深度的比率。
_Vertices[smallIndex].z = (float)avg; //給予每個Mesh的點Z值。
// Update UV mapping with CDRP
var colorSpacePoint = colorSpace[(y * frameDesc.Width) + x];
_UV[smallIndex] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
}
}
_Mesh.vertices = _Vertices;
_Mesh.uv = _UV;
_Mesh.triangles = _Triangles;
_Mesh.RecalculateNormals();
}
void Update()
{
if (_Sensor == null)
{
return;
}
if (_MultiManager == null)
{
return;
}
ushort[] rawdata = _MultiManager.GetDepthData();
_Mapper.MapDepthFrameToColorSpace(rawdata, _colorSpacePoints);
_Mapper.MapDepthFrameToCameraSpace(rawdata, _cameraSpacePoints);
for (int i = 0; i < _cameraSpacePoints.Length; i++)
{
vertices[i] = new Vector3(_cameraSpacePoints[i].X, _cameraSpacePoints[i].Y, _cameraSpacePoints[i].Z);
Colors[i] = Color.white;
}
}
private void renderColorOnDepthThread()
{
while (runColorOnDepthThread)
{
if (newColorOnDepthFrame && recordColorOnDepthFrame)
{
newColorOnDepthFrame = false;
mapper.MapDepthFrameToColorSpace(depthData, points);
Array.Clear(output, 0, output.Length);
for (var y = 0; y < DEPTH_HEIGHT; y++)
{
for (var x = 0; x < DEPTH_WIDTH; x++)
{
int depthIndex = x + (y * DEPTH_WIDTH);
var cPoint = points[depthIndex];
int colorX = (int)Math.Floor(cPoint.X + 0.5);
int colorY = (int)Math.Floor(cPoint.Y + 0.5);
if ((colorX >= 0) && (colorX < COLOR_WIDTH) && (colorY >= 0) && (colorY < COLOR_HEIGHT))
{
int ci = ((colorY * COLOR_WIDTH) + colorX) * 4;
int displayIndex = depthIndex * 4;
output[displayIndex + 0] = colorData[ci];
output[displayIndex + 1] = colorData[ci + 1];
output[displayIndex + 2] = colorData[ci + 2];
output[displayIndex + 3] = 0xff;
}
}
}
}
Thread.Sleep(1);
}
}
/// <summary>
/// Process the color and depth inputs, converting the color into the depth space
/// </summary>
private unsafe void MapColorToDepth()
{
mapper.MapDepthFrameToColorSpace(depthImagePixels, colorCoordinates);
lock (rawDataLock)
{
// Fill in the visibility depth map.
Array.Clear(depthVisibilityTestMap, 0, depthVisibilityTestMap.Length);
fixed(ushort *ptrDepthVisibilityPixels = depthVisibilityTestMap, ptrDepthPixels = depthImagePixels)
{
for (int index = 0; index < depthImagePixels.Length; ++index)
{
if (!float.IsInfinity(colorCoordinates[index].X) && !float.IsInfinity(colorCoordinates[index].Y))
{
int x = (int)(Math.Floor(colorCoordinates[index].X + 0.5f) / ColorDownsampleFactor);
int y = (int)(Math.Floor(colorCoordinates[index].Y + 0.5f) / ColorDownsampleFactor);
if ((x >= 0) && (x < depthVisibilityTestMapWidth) &&
(y >= 0) && (y < depthVisibilityTestMapHeight))
{
int depthVisibilityTestIndex = (y * depthVisibilityTestMapWidth) + x;
if ((ptrDepthVisibilityPixels[depthVisibilityTestIndex] == 0) ||
(ptrDepthVisibilityPixels[depthVisibilityTestIndex] > ptrDepthPixels[index]))
{
ptrDepthVisibilityPixels[depthVisibilityTestIndex] = ptrDepthPixels[index];
}
}
}
}
}
// Here we make use of unsafe code to just copy the whole pixel as an int for performance reasons, as we do
// not need access to the individual rgba components.
fixed(byte *ptrColorPixels = colorImagePixels)
{
int *rawColorPixels = (int *)ptrColorPixels;
// Horizontal flip the color image as the standard depth image is flipped internally in Kinect Fusion
// to give a viewpoint as though from behind the Kinect looking forward by default.
Parallel.For(
0,
depthHeight,
y =>
{
int destIndex = y * depthWidth;
int flippedDestIndex = destIndex + (depthWidth - 1); // horizontally mirrored
for (int x = 0; x < depthWidth; ++x, ++destIndex, --flippedDestIndex)
{
// calculate index into depth array
int colorInDepthX = (int)Math.Floor(colorCoordinates[destIndex].X + 0.5);
int colorInDepthY = (int)Math.Floor(colorCoordinates[destIndex].Y + 0.5);
int depthVisibilityTestX = (int)(colorInDepthX / ColorDownsampleFactor);
int depthVisibilityTestY = (int)(colorInDepthY / ColorDownsampleFactor);
int depthVisibilityTestIndex = (depthVisibilityTestY * depthVisibilityTestMapWidth) + depthVisibilityTestX;
// make sure the depth pixel maps to a valid point in color space
if (colorInDepthX >= 0 && colorInDepthX < colorWidth && colorInDepthY >= 0 &&
colorInDepthY < colorHeight && depthImagePixels[destIndex] != 0)
{
ushort depthTestValue = depthVisibilityTestMap[depthVisibilityTestIndex];
if ((depthImagePixels[destIndex] - depthTestValue) < DepthVisibilityTestThreshold)
{
// Calculate index into color array- this will perform a horizontal flip as well
int sourceColorIndex = colorInDepthX + (colorInDepthY * colorWidth);
// Copy color pixel
resampledColorImagePixelsAlignedToDepth[flippedDestIndex] = rawColorPixels[sourceColorIndex];
}
else
{
resampledColorImagePixelsAlignedToDepth[flippedDestIndex] = 0;
}
}
else
{
resampledColorImagePixelsAlignedToDepth[flippedDestIndex] = 0;
}
}
});
}
}
resampledColorFrameDepthAligned.CopyPixelDataFrom(resampledColorImagePixelsAlignedToDepth);
}
/// <summary>
/// Converts a depth frame to the corresponding System.Windows.Media.Imaging.BitmapSource and removes the background (green-screen effect).
/// </summary>
/// <param name="depthFrame">The specified depth frame.</param>
/// <param name="colorFrame">The specified color frame.</param>
/// <param name="bodyIndexFrame">The specified body index frame.</param>
/// <returns>The corresponding System.Windows.Media.Imaging.BitmapSource representation of image.</returns>
public BitmapSource GreenScreen(ColorFrame colorFrame, DepthFrame depthFrame, BodyIndexFrame bodyIndexFrame)
{
int colorWidth = colorFrame.FrameDescription.Width;
int colorHeight = colorFrame.FrameDescription.Height;
int depthWidth = depthFrame.FrameDescription.Width;
int depthHeight = depthFrame.FrameDescription.Height;
int bodyIndexWidth = bodyIndexFrame.FrameDescription.Width;
int bodyIndexHeight = bodyIndexFrame.FrameDescription.Height;
if (_displayPixels == null)
{
_depthData = new ushort[depthWidth * depthHeight];
_bodyData = new byte[depthWidth * depthHeight];
_colorData = new byte[colorWidth * colorHeight * BYTES_PER_PIXEL];
_displayPixels = new byte[depthWidth * depthHeight * BYTES_PER_PIXEL];
_colorPoints = new ColorSpacePoint[depthWidth * depthHeight];
_bitmap = new WriteableBitmap(depthWidth, depthHeight, DPI, DPI, FORMAT, null);
}
if (((depthWidth * depthHeight) == _depthData.Length) && ((colorWidth * colorHeight * BYTES_PER_PIXEL) == _colorData.Length) && ((bodyIndexWidth * bodyIndexHeight) == _bodyData.Length))
{
depthFrame.CopyFrameDataToArray(_depthData);
if (colorFrame.RawColorImageFormat == ColorImageFormat.Bgra)
{
colorFrame.CopyRawFrameDataToArray(_colorData);
}
else
{
colorFrame.CopyConvertedFrameDataToArray(_colorData, ColorImageFormat.Bgra);
}
bodyIndexFrame.CopyFrameDataToArray(_bodyData);
_coordinateMapper.MapDepthFrameToColorSpace(_depthData, _colorPoints);//深度轉到彩色空間
Array.Clear(_displayPixels, 0, _displayPixels.Length);
for (int y = 0; y < depthHeight; ++y)
{
for (int x = 0; x < depthWidth; ++x)
{
int depthIndex = (y * depthWidth) + x;
byte player = _bodyData[depthIndex];
if (player != 0xff)
{
ColorSpacePoint colorPoint = _colorPoints[depthIndex];
int colorX = (int)Math.Floor(colorPoint.X + 0.5);
int colorY = (int)Math.Floor(colorPoint.Y + 0.5);
if ((colorX >= 0) && (colorX < colorWidth) && (colorY >= 0) && (colorY < colorHeight))
{
int colorIndex = ((colorY * colorWidth) + colorX) * BYTES_PER_PIXEL;
int displayIndex = depthIndex * BYTES_PER_PIXEL;
_displayPixels[displayIndex + 0] = _colorData[colorIndex];
_displayPixels[displayIndex + 1] = _colorData[colorIndex + 1];
_displayPixels[displayIndex + 2] = _colorData[colorIndex + 2];
_displayPixels[displayIndex + 3] = 0xff;//0xFF =>0000000011111111 // 只取後面8bit
//0xffffffff
// B G R A
}
}
}
}
_bitmap.Lock();
Marshal.Copy(_displayPixels, 0, _bitmap.BackBuffer, _displayPixels.Length);
_bitmap.AddDirtyRect(new Int32Rect(0, 0, depthWidth, depthHeight));
_bitmap.Unlock();
}
return(_bitmap);
}
private void RefreshData(ushort[] depthData)
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
Hashtable depthCount = new Hashtable();
if (_flagDeskDepth)
{
int maxCount = 0;
for (int i = 0; i < depthData.Length; i++)
{
if (depthCount.ContainsKey(depthData[i]))
{
if ((int)depthData[i] != 0)
{
depthCount[depthData[i]] = (int)depthCount[depthData[i]] + 1;
}
if ((int)depthCount[depthData[i]] > maxCount)
{
maxCount = (int)depthCount[depthData[i]];
_maxCountKey = depthData[i];
}
}
else
{
depthCount.Add(depthData[i], 1);
}
}
_flagDeskDepth = false;
Debug.Log(_maxCountKey);
//Debug.Log("Max" + maxCountKey);
}
//foreach (ushort key in depthCount.Keys)
//{
// if((int)depthCount[key] > maxCount)
// {
// maxCount = (int)depthCount[key];
// maxCountKey = key;
// }
//}
//Debug.Log(maxCountKey);
//設定存放depth的Mat大小
_Depth = new Mat(frameDesc.Height / _DownsampleSize, frameDesc.Width / _DownsampleSize, CvType.CV_8UC1);
for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
{
for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
{
int indexX = x / _DownsampleSize;
int indexY = y / _DownsampleSize;
int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX;
double avg = GetAvg(depthData, x, y, frameDesc.Width, frameDesc.Height);
//avg = avg * _DepthScale;
if (indexX == 64 && indexY == 53 && _kinectDistance != null)
{
_kinectDistance.text = "distance: " + avg;
}
if (x == 0 && y == 0)
{
Distance_UpLeft = avg;
}
if (x == (frameDesc.Width - _DownsampleSize) && y == 0)
{
Distance_UpRight = avg;
}
if (x == 0 && y == (frameDesc.Height - _DownsampleSize))
{
Distance_DownLeft = avg;
}
if (x == (frameDesc.Width - _DownsampleSize) && y == (frameDesc.Height - _DownsampleSize))
{
Distance_DonwRight = avg;
}
//距離1000mm正負200mm
//avg = (avg > (double)(_maxCountKey + _binaryIndex)) ? 0 : 255;
avg = 255 - (avg / 4000 * 255);
avg = (avg == 255) ? 0 : avg;
_Vertices[smallIndex].z = (float)avg;
_Depth.put(y / _DownsampleSize, frameDesc.Width / _DownsampleSize - x / _DownsampleSize, avg);
// Update UV mapping with CDRP
//var colorSpacePoint = colorSpace[(y * frameDesc.Width) + x];
// _UV[smallIndex] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
}
}
}
private void RefreshData(ushort[] depthData, int colorWidth, int colorHeight)
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
CameraSpacePoint[] cameraSpace = new CameraSpacePoint[depthData.Length];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
_Mapper.MapDepthFrameToCameraSpace(depthData, cameraSpace);
for (int y = 0; y < frameDesc.Height; y += _DownsampleSize)
{
for (int x = 0; x < frameDesc.Width; x += _DownsampleSize)
{
int indexX = x / _DownsampleSize;
int indexY = y / _DownsampleSize;
int smallIndex = (indexY * (frameDesc.Width / _DownsampleSize)) + indexX;
int bigIndex = y * frameDesc.Width + x;
_Vertices[smallIndex].x = -cameraSpace[bigIndex].X;
_Vertices[smallIndex].y = cameraSpace[bigIndex].Y;
_Vertices[smallIndex].z = cameraSpace[bigIndex].Z;
// Update UV mapping with CDRP
var colorSpacePoint = colorSpace[bigIndex];
_UV[smallIndex] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
}
}
_Mesh.vertices = _Vertices;
_Mesh.uv = _UV;
_Mesh.triangles = _Triangles;
_Mesh.RecalculateNormals();
bool sendMesh = false;
lock (readyToSendLock)
{
sendMesh = readyToSendMesh;
}
if (sendMesh)
{
var depthWidth = frameDesc.Width / _DownsampleSize;
var depthHeight = frameDesc.Height / _DownsampleSize;
var depthCount = depthWidth * depthHeight;
// Breite und Höhe Tiefendaten schicken
SendDataToClient(BitConverter.GetBytes(depthWidth));
SendDataToClient(BitConverter.GetBytes(depthHeight));
// Punktdaten und UV-Daten sammeln und als einzelne Nachricht schicken
// 5 Floats (X, Y, Z, U, V)
int byteCount = 5 * sizeof(float) * depthCount;
byte[] dataToSend = new byte[byteCount];
for (int i = 0; i < depthCount; i++)
{
Buffer.BlockCopy(BitConverter.GetBytes(_Vertices[i].x), 0, dataToSend, i * 5 * sizeof(float), sizeof(float));
Buffer.BlockCopy(BitConverter.GetBytes(_Vertices[i].y), 0, dataToSend, (i * 5 + 1) * sizeof(float), sizeof(float));
Buffer.BlockCopy(BitConverter.GetBytes(_Vertices[i].z), 0, dataToSend, (i * 5 + 2) * sizeof(float), sizeof(float));
Buffer.BlockCopy(BitConverter.GetBytes(_UV[i].x), 0, dataToSend, (i * 5 + 3) * sizeof(float), sizeof(float));
Buffer.BlockCopy(BitConverter.GetBytes(_UV[i].y), 0, dataToSend, (i * 5 + 4) * sizeof(float), sizeof(float));
}
SendDataToClient(dataToSend.ToArray());
// Farbdaten mittels JPG komprimieren und als einzelne Nachricht schicken
byte[] colorDataCopy = new byte[colorData.Length];
byte[] jpgData;
Buffer.BlockCopy(colorData, 0, colorDataCopy, 0, colorData.Length);
// Der nachfolgende Code zur JPG-Kompression vertauscht Rot- und Blaukanal, deswegen tauschen wir ihn hier auch schonmal
for (int y = 0; y < colorHeight; y++)
{
for (int x = 0; x < colorWidth; x++)
{
int index = y * colorWidth * 4 + x * 4;
// Vertausche erstes Byte (Rot) und drittes Byte (Blau)
byte temp = colorDataCopy[index];
colorDataCopy[index] = colorDataCopy[index + 2];
colorDataCopy[index + 2] = temp;
}
}
try
{
// Quelle: https://stackoverflow.com/questions/11730373/byte-array-to-bitmap-image
Bitmap bitmap = new Bitmap(colorWidth, colorHeight, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
BitmapData bmData = bitmap.LockBits(new Rectangle(0, 0, colorWidth, colorHeight), ImageLockMode.ReadWrite, bitmap.PixelFormat);
Marshal.Copy(colorDataCopy, 0, bmData.Scan0, colorWidth * colorHeight * 4);
bitmap.UnlockBits(bmData);
using (var ms = new MemoryStream())
{
bitmap.Save(ms, ImageFormat.Jpeg);
jpgData = ms.ToArray();
textInGui.text = "JPG length: " + jpgData.Length;
// Länge der Daten schicken
SendDataToClient(BitConverter.GetBytes(jpgData.Length));
SendDataToClient(jpgData);
}
lock (readyToSendLock)
{
readyToSendMesh = false;
}
} catch (Exception e)
{
textInGui.text = e.Message;
}
}
}
public BitmapSource GreenScreenCustom(ColorFrame colorFrame, DepthFrame depthFrame, BodyIndexFrame bodyIndexFrame)
{
//
ushort[] _depthData = null;
byte[] _bodyData = null;
byte[] _colorData = null;
byte[] _displayPixels = null;
ColorSpacePoint[] _colorPoints = null;
CoordinateMapper _coordinateMapper = _sensor.CoordinateMapper;
int BYTES_PER_PIXEL = (PixelFormats.Bgr32.BitsPerPixel + 7) / 8;
PixelFormat FORMAT = PixelFormats.Bgra32;
double DPI = 96.0;
WriteableBitmap _bitmap = null;
//
int colorWidth = colorFrame.FrameDescription.Width;
int colorHeight = colorFrame.FrameDescription.Height;
int depthWidth = depthFrame.FrameDescription.Width;
int depthHeight = depthFrame.FrameDescription.Height;
int bodyIndexWidth = bodyIndexFrame.FrameDescription.Width;
int bodyIndexHeight = bodyIndexFrame.FrameDescription.Height;
if (_displayPixels == null)
{
_depthData = new ushort[depthWidth * depthHeight];
_bodyData = new byte[depthWidth * depthHeight];
_colorData = new byte[colorWidth * colorHeight * BYTES_PER_PIXEL];
_displayPixels = new byte[depthWidth * depthHeight * BYTES_PER_PIXEL];
_colorPoints = new ColorSpacePoint[depthWidth * depthHeight];
_bitmap = new WriteableBitmap(depthWidth, depthHeight, DPI, DPI, FORMAT, null);
}
if (((depthWidth * depthHeight) == _depthData.Length) && ((colorWidth * colorHeight * BYTES_PER_PIXEL) == _colorData.Length) && ((bodyIndexWidth * bodyIndexHeight) == _bodyData.Length))
{
depthFrame.CopyFrameDataToArray(_depthData);
if (colorFrame.RawColorImageFormat == ColorImageFormat.Bgra)
{
colorFrame.CopyRawFrameDataToArray(_colorData);
}
else
{
colorFrame.CopyConvertedFrameDataToArray(_colorData, ColorImageFormat.Bgra);
}
bodyIndexFrame.CopyFrameDataToArray(_bodyData);
_coordinateMapper.MapDepthFrameToColorSpace(_depthData, _colorPoints);
Array.Clear(_displayPixels, 0, _displayPixels.Length);
Array.Clear(rarray_final, 0, rarray_final.Length);
Array.Clear(garray_final, 0, rarray_final.Length);
Array.Clear(barray_final, 0, rarray_final.Length);
for (int y = 0; y < depthHeight; ++y)
{
for (int x = 0; x < depthWidth; ++x)
{
int depthIndex = (y * depthWidth) + x;
byte player = _bodyData[depthIndex];
if (player != 0xff)
{
ColorSpacePoint colorPoint = _colorPoints[depthIndex];
int colorX = (int)Math.Floor(colorPoint.X + 0.5);
int colorY = (int)Math.Floor(colorPoint.Y + 0.5);
if ((colorX >= 0) && (colorX < colorWidth) && (colorY >= 0) && (colorY < colorHeight))
{
int colorIndex = ((colorY * colorWidth) + colorX) * BYTES_PER_PIXEL;
int displayIndex = depthIndex * BYTES_PER_PIXEL;
_displayPixels[displayIndex + 0] = _colorData[colorIndex];
_displayPixels[displayIndex + 1] = _colorData[colorIndex + 1];
_displayPixels[displayIndex + 2] = _colorData[colorIndex + 2];
_displayPixels[displayIndex + 3] = 0xff;
barray_final[y, x] = _colorData[colorIndex];
garray_final[y, x] = _colorData[colorIndex + 1];
rarray_final[y, x] = _colorData[colorIndex + 2];
// For ROS
_finaldisplayPixels[displayIndex + 0] = _colorData[colorIndex + 2];
_finaldisplayPixels[displayIndex + 1] = _colorData[colorIndex + 1];
_finaldisplayPixels[displayIndex + 2] = _colorData[colorIndex];
_finaldisplayPixels[displayIndex + 3] = 0xff;
}
}
}
}
_bitmap.Lock();
Marshal.Copy(_displayPixels, 0, _bitmap.BackBuffer, _displayPixels.Length);
_bitmap.AddDirtyRect(new Int32Rect(0, 0, depthWidth, depthHeight));
_bitmap.Unlock();
}
return(_bitmap);
}
/// <summary>
/// Kinectにつないでる時だけ使えるコンストラクタ
/// </summary>
/// <param name="originalCoordinateMapper"></param>
/// <param name="depthWidth"></param>
/// <param name="depthHeight"></param>
public LocalCoordinateMapper(CoordinateMapper originalCoordinateMapper, int depthWidth, int depthHeight)
{
this.depthWidth = depthWidth;
this.depthHeight = depthHeight;
this.depthFrameToCameraSpaceTable = originalCoordinateMapper.GetDepthFrameToCameraSpaceTable();
int length = depthWidth * depthHeight;
ushort[] depthBuffer = new ushort[length];
ColorSpacePoint[] colorSpacePoints = new ColorSpacePoint[length];
this.depthFrameToColorSpacfeTable = new PointF[length];
int depth = 1500; // なんでもいい
for (int i = 0; i < length; i++)
{
depthBuffer[i] = (ushort)depth;
}
originalCoordinateMapper.MapDepthFrameToColorSpace(depthBuffer, colorSpacePoints);
for (int i = 0; i < length; i++)
{
PointF tempP = new PointF();
tempP.X = (float)(colorSpacePoints[i].X - D / depth);
tempP.Y = colorSpacePoints[i].Y;
this.depthFrameToColorSpacfeTable[i] = tempP;
}
Debug.WriteLine(1);
}
