public void SetKinectScreen(KinectScreen kinectScreen)
{
const int KINECT_COLOR_WIDTH = 1920;
const int KINECT_COLOR_HEIGHT = 1080;
meshFilter.mesh = CreateMesh(kinectScreen);
meshRenderer.sharedMaterial.SetFloat("_ColorFrameWidthReciprocal", 1.0f / KINECT_COLOR_WIDTH);
meshRenderer.sharedMaterial.SetFloat("_ColorFrameHeightReciprocal", 1.0f / KINECT_COLOR_HEIGHT);
meshRenderer.sharedMaterial.SetFloat("_ColorFrameWidth", KINECT_COLOR_WIDTH);
meshRenderer.sharedMaterial.SetFloat("_ColorFrameHeight", KINECT_COLOR_HEIGHT);
meshRenderer.sharedMaterial.SetFloat("_ColorFx", kinectScreen.ColorIntrinsics.Fx);
meshRenderer.sharedMaterial.SetFloat("_ColorCx", kinectScreen.ColorIntrinsics.Cx);
meshRenderer.sharedMaterial.SetFloat("_ColorShiftMForMeters", kinectScreen.ColorIntrinsics.ShiftM / 1000.0f);
}
private static Mesh CreateMesh(KinectScreen kinect2Screen)
{
const int KINECT_DEPTH_WIDTH = 512;
const int KINECT_DEPTH_HEIGHT = 424;
// Interpolation of vertices. A [depthWidth * depthHeight] screen into a [(depthWidth - 1) * (depthHeight - 1)].
var interploatedVertices = new Vector3[(KINECT_DEPTH_WIDTH - 1) * (KINECT_DEPTH_HEIGHT - 1)];
var interploatedUvs = new Vector2[(KINECT_DEPTH_WIDTH - 1) * (KINECT_DEPTH_HEIGHT - 1)];
for (int i = 0; i < KINECT_DEPTH_WIDTH - 1; ++i)
{
for (int j = 0; j < KINECT_DEPTH_HEIGHT - 1; ++j)
{
interploatedVertices[i + j * (KINECT_DEPTH_WIDTH - 1)] = (kinect2Screen.Vertices[(i + 0) + (j + 0) * KINECT_DEPTH_WIDTH]
+ kinect2Screen.Vertices[(i + 1) + (j + 0) * KINECT_DEPTH_WIDTH]
+ kinect2Screen.Vertices[(i + 0) + (j + 1) * KINECT_DEPTH_WIDTH]
+ kinect2Screen.Vertices[(i + 1) + (j + 1) * KINECT_DEPTH_WIDTH]) * 0.25f;
interploatedUvs[i + j * (KINECT_DEPTH_WIDTH - 1)] = (kinect2Screen.Uv[(i + 0) + (j + 0) * KINECT_DEPTH_WIDTH]
+ kinect2Screen.Uv[(i + 1) + (j + 0) * KINECT_DEPTH_WIDTH]
+ kinect2Screen.Uv[(i + 0) + (j + 1) * KINECT_DEPTH_WIDTH]
+ kinect2Screen.Uv[(i + 1) + (j + 1) * KINECT_DEPTH_WIDTH]) * 0.25f;
}
}
var vertices = new Vector3[(KINECT_DEPTH_WIDTH - 2) * (KINECT_DEPTH_HEIGHT - 2)];
var uvs = new Vector2[(KINECT_DEPTH_WIDTH - 2) * (KINECT_DEPTH_HEIGHT - 2)];
var uvs2 = new Vector2[(KINECT_DEPTH_WIDTH - 2) * (KINECT_DEPTH_HEIGHT - 2)];
var uvs3 = new Vector2[(KINECT_DEPTH_WIDTH - 2) * (KINECT_DEPTH_HEIGHT - 2)];
var uvs4 = new Vector2[(KINECT_DEPTH_WIDTH - 2) * (KINECT_DEPTH_HEIGHT - 2)];
for (int i = 0; i < KINECT_DEPTH_WIDTH - 2; ++i)
{
for (int j = 0; j < KINECT_DEPTH_HEIGHT - 2; ++j)
{
int index = i + j * (KINECT_DEPTH_WIDTH - 2);
var vertex = interploatedVertices[(i + 0) + (j + 0) * (KINECT_DEPTH_WIDTH - 1)];
var vertexOffset = interploatedVertices[(i + 1) + (j + 1) * (KINECT_DEPTH_WIDTH - 1)] - vertex;
var uv = interploatedUvs[(i + 0) + (j + 0) * (KINECT_DEPTH_WIDTH - 1)];
var uvOffset = interploatedUvs[(i + 1) + (j + 1) * (KINECT_DEPTH_WIDTH - 1)] - uv;
// As each quad is for a pixel in the depth map, they share a same uv (color map coordinate), uv2 (depth map coordinate) value.
//uv[index] = kinect2Screen.Uv[(i + 1) + (j + 1) * depthWidth];
//uv2[index] = kinect2Screen.Uv2[(i + 1) + (j + 1) * depthWidth];
//uv3[index] = new Vector2(offset.x, offset.y);
vertices[index] = vertex;
uvs[index] = uv;
uvs2[index] = kinect2Screen.Uv2[(i + 1) + (j + 1) * KINECT_DEPTH_WIDTH];
uvs3[index] = new Vector2(vertexOffset.x, vertexOffset.y);
uvs4[index] = uvOffset;
}
}
var triangles = new int[vertices.Length];
for (int i = 0; i < triangles.Length; ++i)
{
triangles[i] = i;
}
// Without the bounds, Unity decides whether to render this mesh or not based on the vertices calculated here.
// This causes Unity not rendering the mesh transformed by the depth texture even when the transformed one
// belongs to the viewport of the camera.
var bounds = new Bounds(Vector3.zero, Vector3.one * 1000.0f);
var mesh = new Mesh()
{
indexFormat = IndexFormat.UInt32,
vertices = vertices,
uv = uvs,
uv2 = uvs2,
uv3 = uvs3,
triangles = triangles,
bounds = bounds,
};
mesh.SetIndices(triangles, MeshTopology.Points, 0);
return(mesh);
}
