internal void UpdateOptions(ref DepthDataCleanerOptions depthDataCleanerOptions, ref CloudGeneratorOptions cloudGeneratorOptions, IPointCloudSource <PointXYZConfidence> pointCloudSource)
{
// -- Set Generation Options
cloudGeneratorOptions.clusterRadius = clusterRadius;
cloudGeneratorOptions.debugDisplay = debugDisplay;
// -- Set DepthData Cleaner Options
depthDataCleanerOptions.maximumNoise = maximumNoise;
depthDataCleanerOptions.minimumDepth = minimumDepth;
depthDataCleanerOptions.maximumDepth = maximumDepth;
depthDataCleanerOptions.minimumConfidence = minimumConfidence;
depthDataCleanerOptions.medianFilterSize = medianFilterSize;
depthDataCleanerOptions.morphologicalFilterSize = morphologicalFilterSize;
depthDataCleanerOptions.morpholicalIteration = morpholicalIteration;
depthDataCleanerOptions.debugDisplay = debugDisplay;
depthDataCleanerOptions.cameraRotated180 = debugDisplay;
// -- Set DepthData Cleaner Options
HandKernelInterop.SetDepthDataCleanerOptions(ref depthDataCleanerOptions);
// -- Set PointCloudSource Generation Options
pointCloudSource.SetPointCloudGeneratorOptions(cloudGeneratorOptions);
}
/// <summary> Call plugin at end of frames. </summary>
/// <returns> An IEnumerator. </returns>
internal IEnumerator CallPluginAtEndOfFrames()
{
while (true)
{
// Wait until all frame rendering is done
yield return(new WaitForEndOfFrame());
if (initlialzed && _textureCreated)
{
// Set time for the plugin
HandKernelInterop.SetTimeFromUnity(Time.timeSinceLevelLoad);
// Issue a plugin event with arbitrary integer identifier.
// The plugin can distinguish between different
// things it needs to do based on this ID.
// For our simple plugin, it does not matter which ID we pass here.
GL.IssuePluginEvent(HandKernelInterop.GetRenderEventFunc(), 1);
if (_meshesDisabled)
{
EnableMeshObjects();
_meshesDisabled = false;
}
}
}
}
/// <summary> Late update. </summary>
private void LateUpdate()
{
HandKernelInterop.SetDepthDataCleanerOptions(ref depthDataCleanerOptions);
if (_pointCloudSource != null)
{
_pointCloudSource.SetPointCloudGeneratorOptions(cloudGeneratorOptions);
}
if (_handDataSource != null)
{
_handDataSource.SetHandOptions(handProcessorOptions);
}
}
/// <summary> Creates texture and pass to plugin. </summary>
/// <param name="height"> The height. </param>
/// <param name="width"> The width. </param>
public void CreateTextureAndPassToPlugin(int height, int width)
{
// Create a texture
tex = new Texture2D(height, width, TextureFormat.RGBAFloat, false, true);
// Use bilinear, point caused issues with striations in the depth image
// bilinear also causes issues but they are handled in the DepthMapOcclusion.shader
tex.filterMode = FilterMode.Bilinear;
// Call Apply() so it's actually uploaded to the GPU
tex.Apply();
// Pass texture pointer to the plugin
HandKernelInterop.SetTextureFromUnity(tex.GetNativeTexturePtr(), height, width);
}
/// <summary> MetaBehavior Update. </summary>
private void Update()
{
if (initlialzed && !_textureCreated)
{
currentNativeTexture.CreateTextureAndPassToPlugin((int)height, (int)width);
InitOclussionManager();
_textureCreated = true;
}
else if (!initlialzed)
{
if (HandKernelInterop.GetSensorMetaData(ref _sensorMetaData))
{
height = (uint)_sensorMetaData.width;
width = (uint)_sensorMetaData.height;
initlialzed = true;
}
}
}
private void Update()
{
if (!_sensorsInitialized)
{
Internal.SensorMetaData sensorMetaData = new Internal.SensorMetaData();
if (HandKernelInterop.GetSensorMetaData(ref sensorMetaData))
{
OnSensorInitialized();
_sensorsInitialized = true;
}
}
else if (!_initializedHandsModule)
{
var context = Object.FindObjectOfType <MetaContextBridge>().CurrentContext;
context.Get <HandsModule>().Initialized = true;
_initializedHandsModule = true;
}
}
/// <summary> Updates the point cloud interop data from kernel. </summary>
private void UpdatePointCloudInteropDataFromKernel()
{
if (_pointCloudData == null)
{
this.GetPointCloudMetaData();
return;
}
if (!HandKernelInterop.GetPointCloudData(ref _pointCloudInteropData))
{
return;
}
Marshal.Copy(_pointCloudInteropData.data, _pointCloudVertices, 0, _pointCloudInteropData.size * (_pointCloudMetaData.pointSize / 4));
lock (_cloudDataLock)
{
PointCloudData <TPoint> .ConvertFromInteropData(ref _pointCloudData, _pointCloudMetaData, _pointCloudInteropData, _pointCloudVertices);
}
}
/// <summary> Handler, called when the new point cloud meta data. </summary>
public void GetPointCloudMetaData()
{
if (!HandKernelInterop.GetPointCloudMetaData(ref _pointCloudInteropMetaData))
{
return;
}
lock (_cloudDataLock)
{
_pointCloudMetaData = new PointCloudMetaData(_pointCloudInteropMetaData);
//todo: make this be able to handle data other than XYZConfidence
//hack
_pointCloudMetaData.field = PointCloudDataType.XYZCONFIDENCE; //todo: not do this.
_pointCloudVertices = new float[_pointCloudMetaData.maxSize * 4]; // better way to do this
_pointCloudRawData = new char[_pointCloudMetaData.maxSize * _pointCloudMetaData.pointSize];
_pointCloudDataHandle = GCHandle.Alloc(_pointCloudRawData, GCHandleType.Pinned);
_pointCloudInteropData.data = _pointCloudDataHandle.AddrOfPinnedObject();
_pointCloudDataHandle.Free();
_pointCloudInteropData.valid = false;
_pointCloudData = new PointCloudData <TPoint>(_pointCloudMetaData.maxSize);
//end hack
}
}
/// <summary> Sets point cloud generator options. </summary>
///
/// <param name="cloudGeneratorOptions"> Options for controlling the cloud generator. </param>
///
/// <returns> true if it succeeds, false if it fails. </returns>
public bool SetPointCloudGeneratorOptions(CloudGeneratorOptions cloudGeneratorOptions)
{
HandKernelInterop.SetPointCloudGeneratorOptions(ref cloudGeneratorOptions);
return(false);
}
/// <summary> Initialises the point cloud source. </summary>
public void InitPointCloudSource()
{
_newPointCloudDataHandler = this.NewPointCloudDataHandler;
HandKernelInterop.RegisterNewPointCloudDataEventHandler(_newPointCloudDataHandler);
}
/// <summary> Awakes this object. Build Hand Consumer </summary>
private void Awake()
{
//todo : generalize this
HandKernelInterop.BuildHandConsumer(_handConsumerType);
}
