76 lines
2.9 KiB
C#
76 lines
2.9 KiB
C#
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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namespace com.rfilkov.kinect
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{
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/// <summary>
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/// BackgroundRemovalByDist filters part of the real environment, according to the given spatial limits.
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/// </summary>
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public class BackgroundRemovalByDist : MonoBehaviour
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{
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[Tooltip("Horizontal limit - minimum, in meters.")]
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[Range(-5f, 5f)]
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public float xMin = -1f;
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[Tooltip("Horizontal limit - maximum, in meters.")]
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[Range(-5f, 5f)]
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public float xMax = 1f;
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[Tooltip("Vertical limit - minimum, in meters.")]
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[Range(-1f, 5f)]
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public float yMin = 0f;
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[Tooltip("Vertical limit - maximum, in meters.")]
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[Range(-1f, 5f)]
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public float yMax = 2f;
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[Tooltip("Distance limit - minimum, in meters.")]
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[Range(0.5f, 10f)]
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public float zMin = 1f;
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[Tooltip("Distance limit - maximum, in meters.")]
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[Range(0.5f, 10f)]
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public float zMax = 3f;
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// foreground filter shader
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private ComputeShader foregroundFilterShader = null;
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private int foregroundFilterKernel = -1;
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void Start()
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{
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foregroundFilterShader = Resources.Load("ForegroundFiltDistShader") as ComputeShader;
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foregroundFilterKernel = foregroundFilterShader != null ? foregroundFilterShader.FindKernel("FgFiltDist") : -1;
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}
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/// <summary>
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/// Applies vertex filter by distance.
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/// </summary>
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/// <param name="vertexTexture">The vertex texture</param>
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public void ApplyVertexFilter(RenderTexture vertexTexture, Matrix4x4 sensorWorldMatrix)
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{
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//foregroundFilterShader.SetMatrix("Transform", sensorWorldMatrix);
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Matrix4x4 matWorldKinect = sensorWorldMatrix.inverse;
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Vector3 posMin = matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMin, zMin));
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Vector3 posMaxX = matWorldKinect.MultiplyPoint3x4(new Vector3(xMax, yMin, zMin)) - posMin;
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Vector3 posMaxY = matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMax, zMin)) - posMin;
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Vector3 posMaxZ = matWorldKinect.MultiplyPoint3x4(new Vector3(xMin, yMin, zMax)) - posMin;
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Vector3 posDot = new Vector3(Vector3.Dot(posMaxX, posMaxX), Vector3.Dot(posMaxY, posMaxY), Vector3.Dot(posMaxZ, posMaxZ));
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foregroundFilterShader.SetVector("_PosMin", posMin);
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foregroundFilterShader.SetVector("_PosMaxX", posMaxX);
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foregroundFilterShader.SetVector("_PosMaxY", posMaxY);
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foregroundFilterShader.SetVector("_PosMaxZ", posMaxZ);
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foregroundFilterShader.SetVector("_PosDot", posDot);
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foregroundFilterShader.SetTexture(foregroundFilterKernel, "VertexTex", vertexTexture);
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foregroundFilterShader.Dispatch(foregroundFilterKernel, vertexTexture.width / 8, vertexTexture.height / 8, 1);
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}
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}
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}
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