private void RefreshData(ushort[] depthData, int colorWidth, int colorHeight)
{
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
ColorSpacePoint[] colorSpace = new ColorSpacePoint[depthData.Length];
_Mapper.MapDepthFrameToColorSpace(depthData, colorSpace);
// shader输入参数
tri[] values = new tri[_TrianglesTemplate.Length / 3];
for (int i = 0; i < _TrianglesTemplate.Length / 3; i++)
{
values[i].index1 = _TrianglesTemplate[i * 3 + 0];
values[i].index2 = _TrianglesTemplate[i * 3 + 1];
values[i].index3 = _TrianglesTemplate[i * 3 + 2];
values[i].depth1 = (int)depthData[IndexTrans(values[i].index1, _DownsampleSize, frameDesc.Width, frameDesc.Height)] / 1000.0f;
values[i].depth2 = (int)depthData[IndexTrans(values[i].index2, _DownsampleSize, frameDesc.Width, frameDesc.Height)] / 1000.0f;
values[i].depth3 = (int)depthData[IndexTrans(values[i].index3, _DownsampleSize, frameDesc.Width, frameDesc.Height)] / 1000.0f;
values[i].p1 = new Vector3(0, 0, 0);
values[i].p2 = new Vector3(0, 0, 0);
values[i].p3 = new Vector3(0, 0, 0);
}
// compute shader计算
_Buffer.SetData(values);
Dispatch(frameDesc.Width, frameDesc.Height);
// 根据Shader返回的buffer数据更新mesh
tri[] result = new tri[_TrianglesTemplate.Length / 3];
_Buffer.GetData(result);
_Vertices = new Vector3[_TrianglesTemplate.Length];
_Vertices = new Vector3[_TrianglesTemplate.Length];
for (int i = 0; i < result.Length; i++)
{
_Vertices[i * 3 + 0] = result[i].p1;
_Vertices[i * 3 + 1] = result[i].p2;
_Vertices[i * 3 + 2] = result[i].p3;
var colorSpacePoint = colorSpace[IndexTrans(result[i].index1, _DownsampleSize, frameDesc.Width, frameDesc.Height)];
_UV[i * 3 + 0] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
colorSpacePoint = colorSpace[IndexTrans(result[i].index2, _DownsampleSize, frameDesc.Width, frameDesc.Height)];
_UV[i * 3 + 1] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
colorSpacePoint = colorSpace[IndexTrans(result[i].index3, _DownsampleSize, frameDesc.Width, frameDesc.Height)];
_UV[i * 3 + 2] = new Vector2(colorSpacePoint.X / colorWidth, colorSpacePoint.Y / colorHeight);
_Triangles[i * 3 + 0] = result[i].index1;
_Triangles[i * 3 + 1] = result[i].index2;
_Triangles[i * 3 + 2] = result[i].index3;
}
_Mesh.vertices = _Vertices;
_Mesh.uv = _UV;
_Mesh.triangles = _Triangles;
_Mesh.RecalculateNormals();
}
public VertTriList(int[] tri, int numVerts) => Init(tri, numVerts);
