void UpdateReceiving()
{
if (_DepthImageSize != _ReceiverClient.DepthImageSize)
{
_DepthImageSize = _ReceiverClient.DepthImageSize;
_TrvlDecoder = new TemporalRVLDecoder(_DepthImageSize);
_DepthImageRawData = new byte[_DepthImageSize * sizeof(short)];
}
if (_DepthImageTexture == null ||
_DepthImageTexture.width != _ReceiverClient.DepthWidth ||
_DepthImageTexture.height != _ReceiverClient.DepthHeight)
{
int width = _ReceiverClient.DepthWidth;
int height = _ReceiverClient.DepthHeight;
_DepthImageTexture = new Texture2D(width, height, TextureFormat.R16, false);
}
if (_ColorImageTexture == null ||
_ColorImageTexture.width != _ReceiverClient.ColorWidth ||
_ColorImageTexture.height != _ReceiverClient.ColorHeight)
{
int width = _ReceiverClient.ColorWidth;
int height = _ReceiverClient.ColorHeight;
_ColorImageTexture = new Texture2D(width, height, TextureFormat.BGRA32, false);
}
Frame frame = _ReceiverClient.GetFrame();
if (frame != null)
{
// Debug.Log("Frame count: " + frame.FrameCount);
bool isKeyFrame = frame.IsKeyFrame;
byte[] encodedDepthData = frame.EncodedDepthData;
if (frame.CompressionMethod == CompressionMethod.TemporalRVL)
{
// Temporal RVL decompression
_DecodedDepthData = _TrvlDecoder.Decode(encodedDepthData, isKeyFrame);
}
else if (frame.CompressionMethod == CompressionMethod.RVL)
{
// RVL decompression
RVL.DecompressRVL(encodedDepthData, _DecodedDepthData);
}
Buffer.BlockCopy(_DecodedDepthData, 0, _DepthImageRawData, 0, _DepthImageRawData.Length * sizeof(byte));
_DepthImageTexture.LoadRawTextureData(_DepthImageRawData);
_DepthImageTexture.Apply();
_ColorImageData = frame.ColorImageData;
_ColorImageTexture.LoadImage(_ColorImageData);
_ColorImageTexture.Apply();
}
}
void Start()
{
_KinectSensor = _AzureKinectManager.Sensor;
if (_KinectSensor != null)
{
int depthImageSize = _KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight;
_DepthRawData = new byte[depthImageSize * sizeof(ushort)];
_EncodedDepthData = new byte[depthImageSize];
_DecodedDepthData = new short[depthImageSize];
_Diff = new short[depthImageSize];
_DepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DecodedDepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DiffImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_ColorImageTexture = new Texture2D(_KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight, TextureFormat.BGRA32, false);
MeshRenderer depthMeshRenderer = _DepthImageObject.GetComponent <MeshRenderer>();
depthMeshRenderer.sharedMaterial = new Material(_DepthVisualizer);
depthMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _DepthImageTexture);
MeshRenderer decodedDepthMeshRenderer = _DecodedDepthImageObject.GetComponent <MeshRenderer>();
decodedDepthMeshRenderer.sharedMaterial = new Material(_DepthVisualizer);
decodedDepthMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _DecodedDepthImageTexture);
MeshRenderer diffMeshRenderer = _DiffImageObject.GetComponent <MeshRenderer>();
diffMeshRenderer.sharedMaterial = new Material(_DiffVisualizer);
diffMeshRenderer.sharedMaterial.SetTexture("_DepthTex", _DiffImageTexture);
MeshRenderer colorMeshRenderer = _ColorImageObject.GetComponent <MeshRenderer>();
colorMeshRenderer.sharedMaterial = new Material(_UnlitTextureMaterial);
colorMeshRenderer.sharedMaterial.SetTexture("_MainTex", _ColorImageTexture);
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
_TrvlEncoder = new TemporalRVLEncoder(depthImageSize, 10, 2);
_TrvlDecoder = new TemporalRVLDecoder(depthImageSize);
}
}
public void Initialize()
{
_KinectSensor = _AzureKinectManager.Sensor;
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
_DepthImageSize = _KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight;
_DepthRawData = new byte[_DepthImageSize * sizeof(short)];
_Diff = new short[_DepthImageSize];
_EncodedColorImageData = new byte[_DepthImageSize];
_DepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DecodedDepthImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_DiffImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.R16, false);
_ColorImageTexture = new Texture2D(_KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight, TextureFormat.BGRA32, false);
_TrvlEncoder = new TemporalRVLEncoder(_DepthImageSize, 10, 2);
_TrvlDecoder = new TemporalRVLDecoder(_DepthImageSize);
CameraCalibration deviceDepthCameraCalibration = _KinectSensor.DeviceCalibration.DepthCameraCalibration;
CameraCalibration deviceColorCameraCalibration = _KinectSensor.DeviceCalibration.ColorCameraCalibration;
_Calibration = new K4A.Calibration();
_Calibration.DepthCameraCalibration = CreateCalibrationCamera(deviceDepthCameraCalibration, _KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight);
_Calibration.ColorCameraCalibration = CreateCalibrationCamera(deviceColorCameraCalibration, _KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
_CalibrationType = K4A.CalibrationType.Depth; // Color to depth
_Initialized = true;
}
else
{
Debug.LogError("KinectSensor is null!");
}
}
