void Start()
{
List <AzureKinectSensor> kinectSensors = _AzureKinectManager.SensorList;
if (_DeviceNumber < kinectSensors.Count)
{
_KinectSensor = _AzureKinectManager.SensorList[_DeviceNumber];
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
_DepthRawData = new byte[_KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight * sizeof(ushort)];
CameraCalibration deviceDepthCameraCalibration = _KinectSensor.DeviceCalibration.DepthCameraCalibration;
CameraCalibration deviceColorCameraCalibration = _KinectSensor.DeviceCalibration.ColorCameraCalibration;
K4A.Calibration calibration = new K4A.Calibration();
calibration.DepthCameraCalibration = CreateCalibrationCamera(deviceDepthCameraCalibration, _KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight);
calibration.ColorCameraCalibration = CreateCalibrationCamera(deviceColorCameraCalibration, _KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
_PointCloudRenderer = GetComponent <PointCloudRenderer>();
_PointCloudRenderer.GenerateMesh(calibration, K4A.CalibrationType.Depth);
_AzureKinectManager.OpenDevice(_DeviceNumber);
}
}
}
public void Initialize(AzureKinectSensor kinectSensor)
{
if (!_Initialized)
{
_KinectSensor = kinectSensor;
if (_KinectSensor != null)
{
Debug.Log("ColorResolution: " + _KinectSensor.ColorImageWidth + "x" + _KinectSensor.ColorImageHeight);
Debug.Log("DepthResolution: " + _KinectSensor.DepthImageWidth + "x" + _KinectSensor.DepthImageHeight);
// _LowPassFilter = new ExponentialSmoothingLowPassFilter((uint)_Accel.Length, 0.05f);
// _LowPassFilter = new DoubleExponentialSmoothingLowPassFilter((uint)_Accel.Length, 0.3f, 0.3f);
_LowPassFilter = new ButterworthFilter(_Order, _SamplingFrequency, _CutoffFrequency, (uint)_Accel.Length);
_DepthRawData = new byte[_KinectSensor.DepthImageWidth * _KinectSensor.DepthImageHeight * sizeof(ushort)];
_PointCloudRenderer = GetComponent <PointCloudRenderer>();
CameraCalibration deviceDepthCameraCalibration = _KinectSensor.DeviceCalibration.DepthCameraCalibration;
CameraCalibration deviceColorCameraCalibration = _KinectSensor.DeviceCalibration.ColorCameraCalibration;
K4A.Calibration calibration = new K4A.Calibration();
calibration.DepthCameraCalibration = CreateCalibrationCamera(deviceDepthCameraCalibration, _KinectSensor.DepthImageWidth, _KinectSensor.DepthImageHeight);
calibration.ColorCameraCalibration = CreateCalibrationCamera(deviceColorCameraCalibration, _KinectSensor.ColorImageWidth, _KinectSensor.ColorImageHeight);
_PointCloudRenderer.GenerateMesh(calibration, K4A.CalibrationType.Depth);
_Initialized = true;
}
}
}