/// <summary>
/// Get most recent updated depthTexture.
/// </summary>
/// <param name="usingFilter"> If use the depth noise filter.</param>
/// <param name="maxLength"> Farest(max) value from depth.</param>
/// <param name="filterLevel"> Levels of surrounding points check in filter.</param>
/// <returns>Depth texture.</returns>
public Texture2D GetDepthTexture(bool usingFilter, float maxLength, int filterLevel)
{
DepthProvider.GetLatestFrame(ref m_depthMillimeterArr, ref m_timeStamp);
if (m_timeStamp == m_prevTimeStamp)
{
return(m_depthTexture);
}
m_prevTimeStamp = m_timeStamp;
_GetZFromRaw(ref m_depthMeterArr, m_depthMillimeterArr);
float[] zarray;
if (usingFilter)
{
Helper.Filter(m_depthMeterArr, m_filteredDepthMeterArr, filterLevel);
zarray = m_filteredDepthMeterArr;
}
else
{
zarray = m_depthMeterArr;
}
float maxLengthInverse = 1.0f / maxLength;
for (int i = 0; i < DEPTH_TEX_WIDTH * DEPTH_TEX_HEIGHT; i++)
{
m_depthColorArr[i].r = zarray[i] * maxLengthInverse;
m_depthColorArr[i].g = zarray[i] * maxLengthInverse;
m_depthColorArr[i].b = zarray[i] * maxLengthInverse;
}
m_depthTexture.SetPixels(m_depthColorArr);
m_depthTexture.Apply();
return(m_depthTexture);
}
/// <summary>
/// Update the mesh m_vertices and m_triangles
/// separated computation into different frame.
/// </summary>
private void _UpdateMesh()
{
if (m_frameCounter == 0)
{
DepthProvider.GetLatestFrame(ref m_depthArr_int, ref m_timeStamp);
if (m_prevTimestamp == m_timeStamp)
{
return;
}
m_prevTimestamp = m_timeStamp;
// convert the compressed int array to z meters array
_GetZFromRaw(ref m_depthMeter, m_depthArr_int);
m_frameCounter++;
return;
}
if (m_frameCounter == 1)
{
int vertexCounter = 0;
float xd = m_screenWidth / m_traverseWidth;
float yd = m_screenHeight / m_traverseHeight;
for (int i = 0; i < m_traverseHeight; i++)
{
for (int j = 0; j < m_traverseWidth; j++)
{
m_vertices[vertexCounter] =
m_camObj.camera.ScreenToWorldPoint(new Vector3(j * (float)xd,
i * (float)yd,
m_depthMeter[(i * m_stepSize * m_texWidth) + (j * m_stepSize)]));
vertexCounter++;
}
}
m_frameCounter++;
return;
}
if (m_frameCounter == 2)
{
int w = m_traverseWidth - 1;
int h = m_traverseHeight - 1;
int triCounter = 0;
int len = 6 * w * h;
for (int i = 0; i < len; i++)
{
m_triangles[i] = 0;
}
for (int i = 0; i < h; i++)
{
for (int j = 0; j < w; j++)
{
// w + 1 is the real width of m_vertices
// vertex index map
// 1 3
// 0 2
int index0 = (i * m_stepSize * m_texWidth) + (j * m_stepSize);
int index1 = ((i + 1) * m_stepSize * m_texWidth) + (j * m_stepSize);
int index2 = (i * m_stepSize * m_texWidth) + ((j + 1) * m_stepSize);
int index3 = ((i + 1) * m_stepSize * m_texWidth) + ((j + 1) * m_stepSize);
// triangle 1
float distance = Mathf.Abs(m_depthMeter[index0] - m_depthMeter[index1]);
distance += Mathf.Abs(m_depthMeter[index0] - m_depthMeter[index2]);
distance += Mathf.Abs(m_depthMeter[index1] - m_depthMeter[index2]);
if (m_depthMeter[index0] > m_depthDistThreshold &&
m_depthMeter[index1] > m_depthDistThreshold &&
m_depthMeter[index2] > m_depthDistThreshold &&
distance < m_neighborDistThreshold)
{
m_triangles[triCounter] = (i * (w + 1)) + j;
m_triangles[triCounter + 1] = ((i + 1) * (w + 1)) + j;
m_triangles[triCounter + 2] = (i * (w + 1)) + (j + 1);
}
// triangle 2
distance = 0.0f;
distance += Mathf.Abs(m_depthMeter[index1] - m_depthMeter[index2]);
distance += Mathf.Abs(m_depthMeter[index2] - m_depthMeter[index3]);
distance += Mathf.Abs(m_depthMeter[index1] - m_depthMeter[index3]);
if (m_depthMeter[index1] > m_depthDistThreshold &&
m_depthMeter[index3] > m_depthDistThreshold &&
m_depthMeter[index2] > m_depthDistThreshold &&
distance < m_neighborDistThreshold)
{
m_triangles[triCounter + 3] = ((i + 1) * (w + 1)) + j;
m_triangles[triCounter + 4] = ((i + 1) * (w + 1)) + (j + 1);
m_triangles[triCounter + 5] = (i * (w + 1)) + (j + 1);
}
triCounter += 6;
}
}
m_frameCounter++;
return;
}
if (m_frameCounter == 3)
{
// update the m_vertices
m_mesh.vertices = m_vertices;
m_mesh.triangles = m_triangles;
m_mesh.RecalculateBounds();
m_mesh.RecalculateNormals();
m_mesh.SetIndices(m_triangles, m_renderMode, 0);
_UpdateTexture();
m_frameCounter = 0;
}
}
