//update the terrain mesh with height data from Kinect sensor
public void UpdateMesh()
{
ushort[] heightData = manager.GetData();
spacing = scale / frameHeight;
if (useSensor)
{
// Populate vertex array using sensor data
for (int i = 0; i < frameHeight / downsampleSize; i++)
{
for (int j = 0; j < frameWidth / downsampleSize; j++)
{
ushort y = heightData [j * downsampleSize + frameWidth * i * downsampleSize]; // Get Y value from Kinect height data
float yNorm = ((float)y - maxHeight) / (minHeight - maxHeight); // Normalize height
vertices [j + frameWidth / downsampleSize * i] = new Vector3(j * spacing, yNorm * magnitude, i * spacing);
}
}
}
else
{
// Populate vertex array using placeholder heightmap for debugging
for (int i = 0; i < frameHeight / downsampleSize; i++)
{
for (int j = 0; j < frameWidth / downsampleSize; j++)
{
float y = heightmap.GetPixel(i, j).r; // Get Y value from heightmap
vertices [j + frameWidth / downsampleSize * i] = new Vector3(j * spacing, y * magnitude, i * spacing);
}
}
}
mesh.vertices = vertices;
mesh.RecalculateNormals();
}
//update the terrain mesh with height data from Kinect sensor
public void UpdateMesh()
{
heightmapFromSensor = new Texture2D(frameWidth / downsampleSize, frameHeight / downsampleSize, TextureFormat.RGB24, false);
spacing = scale / frameHeight;
if (sensor != null)
{
ushort[] heightData = manager.GetData();
// Populate vertex array using sensor data
for (int i = 0; i < frameHeight / downsampleSize; i++)
{
for (int j = 0; j < frameWidth / downsampleSize; j++)
{
ushort y = heightData [j * downsampleSize + frameWidth * i * downsampleSize]; // Get Y value from Kinect height data
float yNorm = ((float)y - maxHeight) / (minHeight - maxHeight); // Normalize height
Color height = new Color(yNorm, yNorm, yNorm, 1);
heightmapFromSensor.SetPixel(j, i, height);
// If we are loading terrain
if (loadTerrain)
{
// if current height is higher than the heightmap.
if (heightmapFromSensor.GetPixel(j, i).r > loadedHeightmap.GetPixel(j, i).r)
{
// show red to lower.
yNorm -= 1.0f;
}
// if current height is lower than the heightmap.
else if (heightmapFromSensor.GetPixel(j, i).r < loadedHeightmap.GetPixel(j, i).r)
{
// show blue to raise.
yNorm += 1.0f;
}
// if the current height is the same as the heightmap.
}
vertices [j + frameWidth / downsampleSize * i] = new Vector3(j * spacing, yNorm * magnitude, i * spacing);
}
}
}
else
{
// Populate vertex array using placeholder heightmap for debugging
for (int i = 0; i < frameHeight / downsampleSize; i++)
{
for (int j = 0; j < frameWidth / downsampleSize; j++)
{
float y = heightmap.GetPixel(i, j).r; // Get Y value from heightmap
vertices [j + frameWidth / downsampleSize * i] = new Vector3(j * spacing, y * magnitude, i * spacing);
}
}
}
mesh.vertices = vertices;
mesh.RecalculateNormals();
}
void updateTexture()
{
// get new depth data from DepthSourceManager.
ushort[] rawdata = depthSourceManagerScript.GetData();
// convert to byte data (
for (int i = 0; i < rawdata.Length; i++)
{
byte value = (byte)(rawdata[i] * scale);
// byte value2 = (byte)255;
if (value < 0.05f)
{
value = 0; value = 255;
}
int colorindex = i * 3;
depthBitmapBuffer[colorindex + 0] = value;
depthBitmapBuffer[colorindex + 1] = value;
depthBitmapBuffer[colorindex + 2] = value;
}
// make texture from byte array
texture.LoadRawTextureData(depthBitmapBuffer);
texture.Apply();
}
void Update()
{
if (_DepthManager == null)
{
return;
}
//only process every 500 ms
if (deltaTime < updateFrequency)
{
deltaTime += Time.deltaTime;
return;
}
else
{
deltaTime = 0;
}
MeshData d = _DepthManager.GetData();
if (d.Triangles != null && d.Vertices != null)
{
ShowInBounds(d);
}
else
{
//if the kinect doesn't see anything,
//just fall back to setting the point to the kinect's position
KinectAvatarLogic.MyAvatar.PlaceAvatar(null, transform);
}
}
void Update()
{
//depthBuffer の更新
if (DepthSourceManager == null)
{
return;
}
_DepthManager = DepthSourceManager.GetComponent <DepthSourceManager>();
depthBuffer = _DepthManager.GetData();
// 指の判定
checkPoint();
// 初期化キー待機
if (Input.GetKey(KeyCode.I))
{
Invoke("setFirstPoint", 0.5f);
}
if (Input.GetKey(KeyCode.C))
{
// 球体の半径取得
IndexDatas indexDatasObj = GetComponent <IndexDatas>();
int radius = checkCircleLength(indexDatasObj.indexes_Y[3]);
GameObject gameobject = Instantiate(painter, new Vector3(indexDatasObj.indexes_X[3], indexDatasObj.indexes_Y[3], 1), Quaternion.identity);
gameobject.transform.localScale = new Vector3(radius, radius, 1);
}
}
void Update()
{
// get new depth data from DepthSourceManager.
ushort[] rawdata = depthSourceManagerScript.GetData();
// map to camera space coordinate
mapper.MapDepthFrameToCameraSpace(rawdata, cameraSpacePoints);
for (int i = 0; i < cameraSpacePoints.Length; i++)
{
if (cameraSpacePoints[i].X <= 1 && cameraSpacePoints[i].X >= -1) //X座標の1~-1を表示
{
particles[i].position = new Vector3(cameraSpacePoints[i].X * scale, cameraSpacePoints[i].Y * scale, cameraSpacePoints[i].Z * scale);
particles[i].color = color;
particles[i].size = size;
if (rawdata[i] == 0)
{
particles[i].size = 0; //データの値が0ならばサイズを0にする
}
}
else if (particles[i].position != null) //particles[i].positionのデータが空じゃなければサイズを0にする
{
particles[i].size = 0;
}
}
// update particle system
GetComponent <ParticleSystem>().SetParticles(particles, particles.Length);
}
void UpdatePointCloud()
{
ushort[] depthMap = depthManager.GetData();
CameraSpacePoint[] realWorldPoints = new CameraSpacePoint[depthMap.Length];
mapper.MapDepthFrameToCameraSpace(depthMap, realWorldPoints);
// Update Real world to kinect position.
for (int ty = 0; ty < depthHeight; ty += downSample)
{
for (int tx = 0; tx < depthWidth; tx += downSample)
{
int index = ty * depthWidth + tx;
CameraSpacePoint point = realWorldPoints[index];
Vector3 pointV3 = new Vector3(mirror ? -point.X : point.X, point.Y, point.Z);
pointV3 = transform.TransformPoint(pointV3);
realWorldPoints[index].X = pointV3.x;
realWorldPoints[index].Y = pointV3.y;
realWorldPoints[index].Z = pointV3.z;
}
}
OnPointCloudUpdate(realWorldPoints, depthWidth, depthHeight, downSample);
}
// referred the code below. thx kaorun55-san
// https://github.com/kaorun55/Kinect-for-Windows-SDK-v2.0-Samples/blob/master/C%23(WinRT)/02_Depth/KinectV2-Depth-01/KinectV2/MainPage.xaml.cs
void updateTexture()
{
// get new depth data from DepthSourceManager.
ushort[] rawdata = depthSourceManagerScript.GetData();
// convert to byte data (
for (int i = 0; i < rawdata.Length; i++)
{
// 0-8000を0-256に変換する
byte value = (byte)(rawdata[i] * 255 / 8000);
if (rawdata[i] > 1000)
{
value = 0;
}
int colorindex = i * 3;
depthBitmapBuffer[colorindex + 0] = value;
depthBitmapBuffer[colorindex + 1] = value;
depthBitmapBuffer[colorindex + 2] = value;
}
// make texture from byte array
texture.LoadRawTextureData(depthBitmapBuffer);
texture.Apply();
}
// 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;
}
// Update is called once per frame
void Update()
{
ushort[] depthData = _DepthManager.GetData();
for (int y = 0; y < frameDesc.Height; y++)
{
for (int x = 0; x < frameDesc.Width; x++)
{
int fullIndex = (y * frameDesc.Width) + x;
double depth = MAX_DEPTH - depthData[fullIndex]; // So 0 is most distant one!
if (depth == 0)
{
Color color = new Color(0, 0, 0);
texture.SetPixel(x, y, color);
}
else
{
float heightValue = (float)(depth / 4500f);
//Debug.Log("Height for pixel: " + x + " " + y + " = " + depth + " >> " + heightValue);
Color color = new Color(heightValue, heightValue, heightValue);
texture.SetPixel(x, y, color);
}
}
}
texture.Apply();
}
// Update is called once per frame
void Update()
{
if (once)
{
//Debug.Log(dsm.Width);
//Debug.Log(dsm.Height);
once = false;
//initializing all the lists
startMap = new byte[424 * 424]; //the map that constantly gets changed on frame update
finalMap = new byte[424 * 424]; //the obsticle map passed into the pathfinder
colourDepth = new byte[424 * 424 * 4];
texture = new Texture2D(424, 424, TextureFormat.RGBA32, false);
return;
}
if (fromText == true)
{
depth = dsm.GetData();
}
else
{
depth = defaultMap;
}
/////Updating map with Kinect/////
//Putting kinect data into an array
int m = 0;
//The loop which converts depth into terran colour
for (int i = 0; i < 424; i++)
{
for (int j = 0; j < 512; j++)
{
int k = j + 512 * i;
if (k > 43 + (512 * i) && k < 468 + (512 * i))
{
//Debug.Log("test");
if (depth[k] == null)
{
Debug.Log("F**K!");
}
else
{
Mapcolour(depth[k], m);
m++;
}
}
}
}
//Debug.Log(depth.Length + " " + a + " " + b);
texture.LoadRawTextureData(colourDepth);
texture.Apply();
renderer.material.mainTexture = texture;
finalMap = startMap;
}
// Use this for initialization
void Start()
{
//cam設定與啟用
MatchWidth = 0;
MatchHeight = 0;
//取得螢幕與輸入cam的影像大小
_inputWidth = ColorSourceManager.ColorWidth;
_inputHeight = ColorSourceManager.ColorHeight;
_depthData = DepthSourceManager.GetData();
//Debug.Log(_depthData.Length);
//螢幕大小與來源比例初始化
_currentWidth = Screen.width;
_currentHeight = Screen.height;
_positionTrans = new clickPositionTrans(_currentWidth, _currentHeight, _inputWidth, _inputHeight);
//創造mat儲存輸出影像
_sourceMat = new Mat(_inputHeight, _inputWidth, CvType.CV_8UC3);
_sourceMat_backup = new Mat(_inputHeight, _inputWidth, CvType.CV_8UC3);
_sourceMatDepth = new Mat(_inputHeight, _inputWidth, CvType.CV_8UC1);
_blockImageBuffer = new Mat(_inputHeight, _inputWidth, CvType.CV_8UC1);
//創造mat儲存比對用mat(原始比對圖形為未改變比例)
_blockImage = new Mat(_inputHeight, _inputWidth, CvType.CV_8UC3);
_souceOut = new Texture2D(_inputWidth, _inputHeight);
_blockTexture = new Texture2D(320, 180);
_blockDepthTexture = new Texture2D(320, 180);
_blockDepthTextureBg = new Texture2D(320, 180);
isInput = false;
//設定同步旗標
_SyncFlag = false;
//thread
_thread = new Thread(drawDepthSourceMat);
//設定是否完成影像背景偵測
_ScreenSettingCompletionFlag = false;
//選擇範圍初始化
_minX = 0; _maxX = 0; _minY = 0; _maxY = 0;
//設定影像改變旗標
_DepthImageChangeFlag = true;
//try
//{
// System.IO.StreamReader fileData = new System.IO.StreamReader("DrawBlockData.txt", System.Text.Encoding.Default);
// _pointOne.x = double.Parse(fileData.ReadLine());
// _pointOne.y = double.Parse(fileData.ReadLine());
// _pointTwo.x = double.Parse(fileData.ReadLine());
// _pointTwo.y = double.Parse(fileData.ReadLine());
// fileData.Close();
// //_ScreenSettingCompletionFlag = false;
// isInput = !isInput;
// pointUp();
//}
//catch
//{
// Debug.Log("Drawblock File error");
//}
}
void Update()
{
if (!IsFrameValid())
{
return;
}
ushort[] rawDepthData = CropRawDepth(DepthSourceManager.GetData(), activeWidth, activeHeight);
UpdateDepthMesh(kinectDepthMesh, rawDepthData, depthRescale, KINECTMESH_DOWNSAMPLING);
kinectMeshFilter.mesh.vertices = kinectDepthMesh.mesh.vertices;
}
//update the terrain mesh with height data from Kinect sensor
public void UpdateMesh()
{
ushort[] heightData = manager.GetData();
Texture2D img = new Texture2D(frameWidth, frameHeight, TextureFormat.RGB24, false);
spacing = scale / frameHeight;
if (useSensor)
{
// Populate vertex array using sensor data
for (int i = 0; i < frameHeight / downsampleSize; i++)
{
for (int j = 0; j < frameWidth / downsampleSize; j++)
{
ushort y = heightData [j * downsampleSize + frameWidth * i * downsampleSize]; // Get Y value from Kinect height data
float yNorm = ((float)y - maxHeight) / (minHeight - maxHeight); // Normalize height
vertices [j + frameWidth / downsampleSize * i] = new Vector3(j * spacing, yNorm * magnitude, i * spacing);
}
}
byte[] b = img.EncodeToPNG();
File.WriteAllBytes(Application.dataPath + "/Resources/terrainSave.png", b);
}
else
{
// Populate vertex array using placeholder heightmap for debugging
for (int i = 0; i < frameHeight / downsampleSize; i++)
{
for (int j = 0; j < frameWidth / downsampleSize; j++)
{
float y = heightmap.GetPixel(i, j).r; // Get Y value from heightmap
vertices [j + frameWidth / downsampleSize * i] = new Vector3(j * spacing, y * magnitude, i * spacing);
}
}
}
mesh.vertices = vertices;
mesh.RecalculateNormals();
}
void Update()
{
// Track Body
bodyData = bodyManager.GetData();
if (bodyData == null)
{
return;
}
// Get Joint
foreach (Kinect.Body b in bodyData)
{
if (b.IsTracked)
{
joints = b.Joints;
break;
}
}
if (joints == null)
{
return;
}
// Get Depth
ushort[] depthData = depthManager.GetData();
// Calculate Sticks Index
bool[] stickIndex = getStickIndex(depthData);
bool useCache = stickIndex == null;
/*
* if (useCache)
* {
*
* if (depthDataCache != null)
* depthData = (ushort[])depthDataCache.Clone();
*
* if (stickIndexCache != null)
* stickIndex = (bool[])stickIndexCache.Clone();
* }
*/
if (!useCache)
{
printDepthImg(depthData, stickIndex);
}
}
public void Test()
{
ushort[] depth = dsm.GetData();
Debug.Log(path);
using (FileStream fs = new FileStream(path, FileMode.Truncate, FileAccess.Write))
{
using (StreamWriter sw = new StreamWriter(fs))
{
foreach (ushort value in depth)
{
sw.Write(Convert.ToString(value) + ",");
}
}
}
}
// Update is called once per frame
void Update()
{
if (_Sensor == null)
{
return;
}
if (_DepthManager == null)
{
return;
}
//if (_DepthManager == null)
//{
// return;
//}
RefreshData(_DepthManager.GetData());
}
void Update()
{
if (_Sensor == null)
{
return;
}
if (Input.GetButtonDown("Fire1"))
{
if (ViewMode == DepthViewMode.MultiSourceReader)
{
ViewMode = DepthViewMode.SeparateSourceReaders;
}
else
{
ViewMode = DepthViewMode.MultiSourceReader;
}
}
float yVal = Input.GetAxis("Horizontal");
float xVal = -Input.GetAxis("Vertical");
transform.Rotate(
(xVal * Time.deltaTime * _Speed),
(yVal * Time.deltaTime * _Speed),
0,
Space.Self);
if (ViewMode == DepthViewMode.SeparateSourceReaders)
{
gameObject.GetComponent <Renderer>().material.mainTexture = _ColorManager.GetColorTexture();
RefreshData(_DepthManager.GetData(),
_ColorManager.ColorWidth,
_ColorManager.ColorHeight);
}
else
{
gameObject.GetComponent <Renderer>().material.mainTexture = _MultiManager.GetColorTexture();
RefreshData(_MultiManager.GetDepthData(),
_MultiManager.ColorWidth,
_MultiManager.ColorHeight);
}
}
void Update()
{
// get new depth data from DepthSourceManager.
ushort[] rawdata = depthSourceManagerScript.GetData();
// map to camera space coordinate
mapper.MapDepthFrameToCameraSpace(rawdata, cameraSpacePoints);
for (int i = 0; i < cameraSpacePoints.Length; i++)
{
particles[i].position = new Vector3(cameraSpacePoints[i].X * scale, cameraSpacePoints[i].Y * scale, cameraSpacePoints[i].Z * scale);
particles[i].color = color;
particles[i].size = size;
if (rawdata[i] == 0)
{
particles[i].size = 0;
}
}
// update particle system
GetComponent <ParticleSystem>().SetParticles(particles, particles.Length);
}
void Update()
{
if (_Sensor == null)
{
return;
}
//點擊滑鼠右鍵切換單組資源配置或是多組資源配置。
if (Input.GetButtonDown("Fire1"))
{
if (ViewMode == DepthViewMode.MultiSourceReader)
{
ViewMode = DepthViewMode.SeparateSourceReaders;
}
else
{
ViewMode = DepthViewMode.MultiSourceReader;
}
}
//使用上下左右鍵旋轉Mesh物件。
float yVal = Input.GetAxis("Horizontal");
float xVal = -Input.GetAxis("Vertical");
transform.Rotate(
(xVal * Time.deltaTime * _Speed),
(yVal * Time.deltaTime * _Speed),
0,
Space.Self);
//如果切換到了單組資源配置的執行工作。
if (ViewMode == DepthViewMode.SeparateSourceReaders)
{
if (ColorSourceManager == null)
{
return;
}
_ColorManager = ColorSourceManager.GetComponent <ColorSourceManager>();
if (_ColorManager == null)
{
return;
}
if (DepthSourceManager == null)
{
return;
}
_DepthManager = DepthSourceManager.GetComponent <DepthSourceManager>();
if (_DepthManager == null)
{
return;
}
gameObject.renderer.material.mainTexture = _ColorManager.GetColorTexture();
RefreshData(_DepthManager.GetData(),
_ColorManager.ColorWidth,
_ColorManager.ColorHeight);
}
else //如果切換到了多組資源配置的執行工作。
{
if (MultiSourceManager == null)
{
return;
}
_MultiManager = MultiSourceManager.GetComponent <MultiSourceManager>();
if (_MultiManager == null)
{
return;
}
gameObject.renderer.material.mainTexture = _MultiManager.GetColorTexture();
RefreshData(_MultiManager.GetDepthData(),
_MultiManager.ColorWidth,
_MultiManager.ColorHeight);
}
}
// Update is called once per frame
void Update()
{
if (once)
{
//Debug.Log(dsm.Width);
//Debug.Log(dsm.Height);
once = false;
//initializing all the lists
startMap = new byte[424 * 424]; //the map that constantly gets changed on frame update
finalMap = new byte[424 * 424]; //the obsticle map passed into the pathfinder
colourDepth = new byte[424 * 424 * 4];
texture = new Texture2D(424, 424, TextureFormat.RGBA32, false);
standardDepth = new ushort[424 * 424];
maskingLayer = new bool[424 * 424];
lavaMap = new bool[424 * 424];
DrawMaskingCircle();
return;
}
if (fromText == true)
{
depth = dsm.GetData();
}
else
{
depth = defaultMap;
}
/////Updating map with Kinect/////
//Putting kinect data into an array
int m = 0;
//The loop which converts depth into terran colour
for (int i = 0; i < 424; i++)
{
for (int j = 0; j < 512;j++)
{
int k = j + 512 * i;
if (k > 43+(512*i) && k < 468+(512*i))
{
//Debug.Log("test");
if (depth[k] == null)
{
Debug.Log("F**K!");
}
else
{
Mapcolour(depth[k], m);
m++;
}
}
}
}
//Debug.Log(depth.Length + " " + a + " " + b);
texture.LoadRawTextureData(colourDepth);
texture.Apply();
renderer.material.mainTexture = texture;
finalMap = startMap;
timer += Time.deltaTime;
if (timer > delay && lavaStart == true)
{
count+=2;
Debug.Log(count);
getLavaMap();
timer = 0;
}
//getting value of highest point of sand
//Debug.Log (highestPoint);
//Debug.Log (lowestPoint);
}
void updateTexture()
{
resultMat1 = Mat.zeros(texture.height, texture.width, CvType.CV_8UC1);
resultMat2 = Mat.zeros(texture.height, texture.width, CvType.CV_8UC1);
resultMat3 = Mat.zeros(texture.height, texture.width, CvType.CV_8UC1);
// get new depth data from DepthSourceManager.
ushort[] rawdata = depthSourceManagerScript.GetData();
v = 2500;
for (int r = 0; r < f_DepthMapHeight; r += 1) //위에서 아래로
{
for (int c = 0; c < f_DepthMapWidth; c += 1) //오른쪽에서 왼쪽으로
{
//value / (v / 256)
ushort value = rawdata[r * f_DepthMapWidth + c];
depthBitmapBuffer[(r * f_DepthMapWidth + c) * 4 + 1] =
(byte)((500 < value) && (value < 2500) ? 255 - (256 * value / (v)) : 0); // G // COMMON
depthBitmapBuffer[(r * f_DepthMapWidth + c) * 4 + 3] =
(byte)((500 < value) && (value < 2500) ? 255 - (256 * value / (v)) : 0); // A // COMMON
}
}
// make texture from byte array
texture.LoadRawTextureData(depthBitmapBuffer);
texture.Apply();
resultMat1 = avgMatReturn(texture, matBuffer, ref sumCount1);
v = 3200;
for (int r = 0; r < f_DepthMapHeight; r += 1) //위에서 아래로
{
for (int c = 0; c < f_DepthMapWidth; c += 1) //오른쪽에서 왼쪽으로
{
ushort value = rawdata[r * f_DepthMapWidth + c];
depthBitmapBuffer[(r * f_DepthMapWidth + c) * 4 + 1] =
(byte)((2500 < value) && (value < 3200) ? 255 - (256 * value / (v)) : 0); // G // COMMON
depthBitmapBuffer[(r * f_DepthMapWidth + c) * 4 + 3] =
(byte)((2500 < value) && (value < 3200) ? 255 - (256 * value / (v)) : 0); // A // COMMON
}
}
// make texture from byte array
texture.LoadRawTextureData(depthBitmapBuffer);
texture.Apply();
resultMat2 = avgMatReturn(texture, matBuffer2, ref sumCount2);
v = 5000;
for (int r = 0; r < f_DepthMapHeight; r += 1) //위에서 아래로
{
for (int c = 0; c < f_DepthMapWidth; c += 1) //오른쪽에서 왼쪽으로
{
ushort value = rawdata[r * f_DepthMapWidth + c];
depthBitmapBuffer[(r * f_DepthMapWidth + c) * 4 + 1] =
(byte)((3200 < value) && (value < 5000) ? 255 - (256 * value / (v)) : 0); // G // COMMON
depthBitmapBuffer[(r * f_DepthMapWidth + c) * 4 + 3] =
(byte)((3200 < value) && (value < 5000) ? 255 - (256 * value / (v)) : 0); // A // COMMON
}
}
// make texture from byte array
texture.LoadRawTextureData(depthBitmapBuffer);
texture.Apply();
resultMat3 = avgMatReturn(texture, matBuffer3, ref sumCount3);
Mat totalMat = new Mat(texture.height, texture.width, CvType.CV_8UC1);
totalMat = Mat.zeros(texture.height, texture.width, CvType.CV_8UC1);
Core.add(totalMat, resultMat1, totalMat); //합영상 구하기.
Core.add(totalMat, resultMat2, totalMat); //합영상 구하기.
Core.add(totalMat, resultMat3, totalMat); //합영상 구하기.
Utils.matToTexture2D(totalMat, texture); //원본 깊이값 영상 텍스쳐로 전환
texture.Apply(); //텍스쳐 적용
Mat kernel = new Mat(7, 7, CvType.CV_8U, new Scalar(1));
Imgproc.threshold(convert8Mat, convert8Mat, 5, 255, Imgproc.THRESH_BINARY | Imgproc.THRESH_OTSU);
Imgproc.threshold(totalMat, totalMat, 5, 255, Imgproc.THRESH_BINARY | Imgproc.THRESH_OTSU);
Imgproc.erode(totalMat, totalMat, kernel); //병목
Imgproc.dilate(totalMat, totalMat, kernel); //팽창.
Imgproc.dilate(totalMat, totalMat, kernel); //팽창.
List <Point> touchPoints = new List <Point>();
Mat hierarchy = new Mat();
List <MatOfPoint> contours = new List <MatOfPoint>();
//RETR_EXTERNAL
Imgproc.findContours(totalMat, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
for (int i = 0; i < contours.Count; i++)
{
Mat contourMat = new Mat();
contourMat = contours[i];
double contourArea = Imgproc.contourArea(contourMat);
if (contourArea > footMinArea
//&& contourArea < footMaxArea
)
{
Scalar center = Core.mean(contourMat);
Point footPoint = new Point(center.val[0], center.val[1]);
touchPoints.Add(footPoint);
}
Scalar color = new Scalar(255, 0, 0);
Imgproc.drawContours(totalMat, contours, i, color, 7);
}
for (int i = 0; i < touchPoints.Count; i++)
{ // touch points
Scalar color = new Scalar(255, 0, 0);
Imgproc.circle(totalMat, touchPoints[i], 50, color, 7);
int delta_x = (int)touchPoints[i].x;
int delta_y = (int)touchPoints[i].y;
OnParticleObjActive(delta_x, delta_y);
}
//현재 활성화중인 ParticleObj의 lifeTime을 확인하기 위해!
OnParticleObjTimeCheck();
Utils.matToTexture2D(totalMat, subTexture); //원본 깊이값 영상 텍스쳐로 전환
subTexture.Apply(); //텍스쳐 적용
}
void Update()
{
if (_Sensor == null)
{
return;
}
if (Input.GetButtonDown("Fire1"))
{
if (updateTerrain == true)
{
updateTerrain = false;
}
else
{
updateTerrain = true;
}
}
//
//
//
// if(ViewMode == DepthViewMode.MultiSourceReader)
// {
// ViewMode = DepthViewMode.SeparateSourceReaders;
// }
// else
// {
// ViewMode = DepthViewMode.MultiSourceReader;
// }
// }
float yVal = Input.GetAxis("Horizontal");
float xVal = -Input.GetAxis("Vertical");
//transform.Rotate (xVal, yVal, 0.0f);
if (updateTerrain == true)
{
if (ViewMode == DepthViewMode.SeparateSourceReaders)
{
if (ColorSourceManager == null)
{
return;
}
_ColorManager = ColorSourceManager.GetComponent <ColorSourceManager>();
if (_ColorManager == null)
{
return;
}
if (DepthSourceManager == null)
{
return;
}
_DepthManager = DepthSourceManager.GetComponent <DepthSourceManager>();
if (_DepthManager == null)
{
return;
}
gameObject.GetComponent <Renderer>().material.mainTexture = _ColorManager.GetColorTexture();
RefreshData(_DepthManager.GetData(),
_ColorManager.ColorWidth,
_ColorManager.ColorHeight);
}
else
{
if (MultiSourceManager == null)
{
return;
}
_MultiManager = MultiSourceManager.GetComponent <MultiSourceManager>();
if (_MultiManager == null)
{
return;
}
gameObject.GetComponent <Renderer>().material.mainTexture = _MultiManager.GetColorTexture();
RefreshData(_MultiManager.GetDepthData(),
_MultiManager.ColorWidth,
_MultiManager.ColorHeight);
}
}
UpdateTransform();
}
void Update()
{
if (_Sensor == null)
{
return;
}
/*if (Input.GetButtonDown("Fire1"))
* {
*
* if (ViewMode == DepthViewMode.MultiSourceReader)
* {
* ViewMode = DepthViewMode.SeparateSourceReaders;
* }
* else
* {
* ViewMode = DepthViewMode.MultiSourceReader;
* }
* }
*
* float yVal = Input.GetAxis("Horizontal");
* float xVal = -Input.GetAxis("Vertical");
*
* transform.Rotate(
* (xVal * Time.deltaTime * _Speed),
* (yVal * Time.deltaTime * _Speed),
* 0,
* Space.Self);*/
if (ViewMode == DepthViewMode.SeparateSourceReaders)
{
if (ColorSourceManager == null)
{
return;
}
_ColorManager = ColorSourceManager.GetComponent <ColorSourceManager>();
if (_ColorManager == null)
{
return;
}
if (DepthSourceManager == null)
{
return;
}
_DepthManager = DepthSourceManager.GetComponent <DepthSourceManager>();
if (_DepthManager == null)
{
return;
}
gameObject.GetComponent <Renderer>().material.mainTexture = _ColorManager.GetColorTexture();
RefreshData(_DepthManager.GetData(), //デプスマネージャーからushortのデプスデータ取ってきてる
_ColorManager.ColorWidth,
_ColorManager.ColorHeight);
}
else
{
if (MultiSourceManager == null)
{
return;
}
_MultiManager = MultiSourceManager.GetComponent <MultiSourceManager>();
if (_MultiManager == null)
{
return;
}
gameObject.GetComponent <Renderer>().material.mainTexture = _MultiManager.GetColorTexture();
RefreshData(_MultiManager.GetDepthData(), //デプスマネージャーからushortのデプスデータ取ってきてる
_MultiManager.ColorWidth,
_MultiManager.ColorHeight);
}
for (int i = 0; i < detectedx.Count; i++) //複数手判定
{
if (hand1x.Count == 0)
{
hand1x.Add(detectedx[i]);
hand1y.Add(detectedy[i]);
}
else
{
if (Mathf.Abs(detectedx[i] - hand1x[0]) + Mathf.Abs(detectedy[i] - hand1y[0]) < avilabledistance) //計算量短縮のために二乗を使わないで距離判定
{
hand1x.Add(detectedx[i]);
hand1y.Add(detectedy[i]);
}
else
{
if (hand2x.Count == 0)
{
hand2x.Add(detectedx[i]);
hand2y.Add(detectedy[i]);
}
else
{
if (Mathf.Abs(detectedx[i] - hand2x[0]) + Mathf.Abs(detectedy[i] - hand2y[0]) < avilabledistance)
{
hand2x.Add(detectedx[i]);
hand2y.Add(detectedy[i]);
}
else
{
if (hand3x.Count == 0)
{
hand3x.Add(detectedx[i]);
hand3y.Add(detectedy[i]);
}
else
{
if (Mathf.Abs(detectedx[i] - hand3x[0]) + Mathf.Abs(detectedy[i] - hand3y[0]) < avilabledistance)
{
hand3x.Add(detectedx[i]);
hand3y.Add(detectedy[i]);
}
else
{
if (hand4x.Count == 0)
{
hand4x.Add(detectedx[i]);
hand4y.Add(detectedy[i]);
}
else
{
if (Mathf.Abs(detectedx[i] - hand4x[0]) + Mathf.Abs(detectedy[i] - hand4y[0]) < avilabledistance)
{
hand4x.Add(detectedx[i]);
hand4y.Add(detectedy[i]);
}
else
{
if (hand5x.Count == 0)
{
hand5x.Add(detectedx[i]);
hand5y.Add(detectedy[i]);
}
else
{
if (Mathf.Abs(detectedx[i] - hand5x[0]) + Mathf.Abs(detectedy[i] - hand5y[0]) < avilabledistance)
{
hand5x.Add(detectedx[i]);
hand5y.Add(detectedy[i]);
}
else
{
if (hand6x.Count == 0)
{
hand6x.Add(detectedx[i]);
hand6y.Add(detectedy[i]);
}
else
{
if (Mathf.Abs(detectedx[i] - hand6x[0]) + Mathf.Abs(detectedy[i] - hand6y[0]) < avilabledistance)
{
hand6x.Add(detectedx[i]);
hand6y.Add(detectedy[i]);
}
}
}
}
}
}
}
}
}
}
}
}
}
hand1ave();
hand2ave();
hand3ave();
hand4ave();
hand5ave();
hand6ave();
detectedx.Clear();
detectedy.Clear();
hand1x.Clear();
hand1y.Clear();
hand2x.Clear();
hand2y.Clear();
hand3x.Clear();
hand3y.Clear();
hand4x.Clear();
hand4y.Clear();
hand5x.Clear();
hand5y.Clear();
hand6x.Clear();
hand6y.Clear();
}
void Update()
{
if (_Sensor == null)
{
return;
}
if (ScanSceneButton.scan)
{
if (ViewMode == DepthViewMode.MultiSourceReader)
{
ViewMode = DepthViewMode.SeparateSourceReaders;
ScanSceneButton.scan = false;
}
else
{
ViewMode = DepthViewMode.MultiSourceReader;
ScanSceneButton.scan = false;
}
}
float yVal = Input.GetAxis("Horizontal");
float xVal = -Input.GetAxis("Vertical");
transform.Rotate(
(xVal * Time.deltaTime * _Speed),
(yVal * Time.deltaTime * _Speed),
0,
Space.Self);
if (ViewMode == DepthViewMode.SeparateSourceReaders)
{
if (ColorSourceManager == null)
{
return;
}
_ColorManager = ColorSourceManager.GetComponent <ColorSourceManager>();
if (_ColorManager == null)
{
return;
}
if (DepthSourceManager == null)
{
return;
}
_DepthManager = DepthSourceManager.GetComponent <DepthSourceManager>();
if (_DepthManager == null)
{
return;
}
gameObject.GetComponent <Renderer>().material.mainTexture = _ColorManager.GetColorTexture();
RefreshData(_DepthManager.GetData(),
_ColorManager.ColorWidth,
_ColorManager.ColorHeight);
}
else
{
if (MultiSourceManager == null)
{
return;
}
_MultiManager = MultiSourceManager.GetComponent <MultiSourceManager>();
if (_MultiManager == null)
{
return;
}
// gameObject.GetComponent<Renderer>().material.mainTexture = _MultiManager.GetColorTexture();
RefreshData(_MultiManager.GetDepthData(),
_MultiManager.ColorWidth,
_MultiManager.ColorHeight);
}
}
void Update()
{
if (_Sensor == null)
{
return;
}
//點擊滑鼠右鍵切換單組資源配置或是多組資源配置。
if (Input.GetButtonDown("Fire1"))
{
if(ViewMode == DepthViewMode.MultiSourceReader)
{
ViewMode = DepthViewMode.SeparateSourceReaders;
}
else
{
ViewMode = DepthViewMode.MultiSourceReader;
}
}
//使用上下左右鍵旋轉Mesh物件。
float yVal = Input.GetAxis("Horizontal");
float xVal = -Input.GetAxis("Vertical");
transform.Rotate(
(xVal * Time.deltaTime * _Speed),
(yVal * Time.deltaTime * _Speed),
0,
Space.Self);
//如果切換到了單組資源配置的執行工作。
if (ViewMode == DepthViewMode.SeparateSourceReaders)
{
if (ColorSourceManager == null)
{
return;
}
_ColorManager = ColorSourceManager.GetComponent<ColorSourceManager>();
if (_ColorManager == null)
{
return;
}
if (DepthSourceManager == null)
{
return;
}
_DepthManager = DepthSourceManager.GetComponent<DepthSourceManager>();
if (_DepthManager == null)
{
return;
}
gameObject.renderer.material.mainTexture = _ColorManager.GetColorTexture();
RefreshData(_DepthManager.GetData(),
_ColorManager.ColorWidth,
_ColorManager.ColorHeight);
}
else//如果切換到了多組資源配置的執行工作。
{
if (MultiSourceManager == null)
{
return;
}
_MultiManager = MultiSourceManager.GetComponent<MultiSourceManager>();
if (_MultiManager == null)
{
return;
}
gameObject.renderer.material.mainTexture = _MultiManager.GetColorTexture();
RefreshData(_MultiManager.GetDepthData(),
_MultiManager.ColorWidth,
_MultiManager.ColorHeight);
}
}
void Update()
{
// get new depth data from DepthSourceManager.
ushort[] rawdata = depthSourceManagerScript.GetData();
Debug.Log(rawdata.Length);
if (color_reader == null)
{
Debug.Log("error");
}
if (color_reader != null)
{
var Reference = color_reader.AcquireLatestFrame();
//Debug.Log(color_reader.AcquireLatestFrame());
// if (Reference == null)
//{
// Reference = ColorSourceManager_copy.frame;
// }
if (Reference != null)
{
try
{
Reference.CopyConvertedFrameDataToArray(color_array, ColorImageFormat.Rgba);
CHECK_GETDATA = true;
Debug.Log(color_array.Length);
Reference.Dispose();
Reference = null;
}
catch (Exception e)
{
Debug.Log(e);
}
}
}
// map to camera space coordinate
//Debug.Log ("particle");
mapper.MapDepthFrameToCameraSpace(rawdata, cameraSpacePoints);
mapper.MapDepthFrameToColorSpace(rawdata, colorSpacePoints);
Debug.Log(colorSpacePoints.Length);
for (int i = 0; i < cameraSpacePoints.Length; i++)
{
long colorX = float.IsInfinity(colorSpacePoints[i].X) ? 0 : (int)Mathf.Floor(colorSpacePoints[i].X);
long colorY = float.IsInfinity(colorSpacePoints[i].Y) ? 0 : (int)Mathf.Floor(colorSpacePoints[i].Y);
if (colorX < 0)
{
colorX = 0;
}
if (colorY < 0)
{
colorY = 0;
}
if (i % 1000 == 0)
{
Debug.Log("X:" + colorX + " Y:" + colorY);
Debug.Log(colorSpacePoints[i].X);
}
long colorIndex = ((colorY * colorFrameDesc.Width) + colorX) * 4;
if (CHECK_GETDATA == true)
{
if (colorIndex < 0)
{
Debug.Log("error" + colorIndex);
}
try
{
byte r = color_array[colorIndex];
byte g = color_array[colorIndex + 1];
byte b = color_array[colorIndex + 2];
byte alpha = 255;
particles[i].color = new Color32(r, g, b, alpha);
}
catch (Exception e)
{
}
}
//if (cameraSpacePoints [i].X <= 1 && cameraSpacePoints[i].X >= -1) {//X座標の1~-1を表示
particles[i].position = new Vector3(cameraSpacePoints[i].X * scale, cameraSpacePoints[i].Y * scale, cameraSpacePoints[i].Z * scale);
particles[i].size = size;
//particles[i].color=new Color32(0,(byte)(cameraSpacePoints[i].Z*50),0,255);
// if (rawdata [i] == 0)
// particles [i].size = 0;//データの値が0ならばサイズを0にする
//} else if (particles [i].position != null) {//particles[x].positionのデータが空じゃなければサイズを0にする
// particles [i].size = 0;
//}
if (i % 10000 == 0)
{
//Debug.Log (particles [i].color);
}
}
// update particle system
GetComponent <ParticleSystem>().SetParticles(particles, particles.Length);
}
