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optimize IRSensor data retrival using R16 texture format and unsafe IntPtr

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This commit is contained in:
Chikashi Miyama 2019-07-07 13:26:16 +02:00
parent 82ab0c5e75
commit 4ba933ac3f
18 changed files with 649 additions and 398 deletions
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6
UnityProject/.idea/.idea.UnityProject/.idea/contentModel.xml
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@ -20,12 +20,12 @@
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<e p="KinectSensor.cs" t="Include" /> <e p="KinectSensor.cs" t="Include" />
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<e p="Visualizer" t="Include"> <e p="Visualizer" t="Include">
<e p="PointCloud.cs" t="Include" /> <e p="PointCloudBehaviour.cs" t="Include" />
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734
UnityProject/.idea/.idea.UnityProject/.idea/workspace.xml
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4
UnityProject/Assembly-CSharp-Editor.csproj
View file

@ -30,7 +30,7 @@
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>
<NoWarn>0169</NoWarn> <NoWarn>0169</NoWarn>
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<DebugType>pdbonly</DebugType> <DebugType>pdbonly</DebugType>
@ -39,7 +39,7 @@
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>
<NoWarn>0169</NoWarn> <NoWarn>0169</NoWarn>
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10
UnityProject/Assembly-CSharp.csproj
View file

@ -30,7 +30,7 @@
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>
<NoWarn>0169</NoWarn> <NoWarn>0169</NoWarn>
<AllowUnsafeBlocks>False</AllowUnsafeBlocks> <AllowUnsafeBlocks>True</AllowUnsafeBlocks>
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<DebugType>pdbonly</DebugType> <DebugType>pdbonly</DebugType>
@ -39,7 +39,7 @@
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>
<NoWarn>0169</NoWarn> <NoWarn>0169</NoWarn>
<AllowUnsafeBlocks>False</AllowUnsafeBlocks> <AllowUnsafeBlocks>True</AllowUnsafeBlocks>
</PropertyGroup> </PropertyGroup>
<PropertyGroup> <PropertyGroup>
<NoConfig>true</NoConfig> <NoConfig>true</NoConfig>
@ -60,10 +60,10 @@
<Compile Include="Assets\Scripts\PdConnection\PdArray.cs" /> <Compile Include="Assets\Scripts\PdConnection\PdArray.cs" />
<Compile Include="Assets\Scripts\VideoInput\ComponentFactory.cs" /> <Compile Include="Assets\Scripts\VideoInput\ComponentFactory.cs" />
<Compile Include="Assets\Scripts\VideoInput\InfraredCamera.cs" /> <Compile Include="Assets\Scripts\VideoInput\InfraredCamera.cs" />
<Compile Include="Assets\Scripts\VideoInput\KinectManager.cs" /> <Compile Include="Assets\Scripts\VideoInput\KinectManagerBehaviour.cs" />
<Compile Include="Assets\Scripts\VideoInput\KinectSensor.cs" /> <Compile Include="Assets\Scripts\VideoInput\KinectSensor.cs" />
<Compile Include="Assets\Scripts\Visualizer\PointCloud.cs" /> <Compile Include="Assets\Scripts\Visualizer\PointCloudBehaviour.cs" />
<Compile Include="Assets\Scripts\Visualizer\WaveformVisualizer.cs" /> <Compile Include="Assets\Scripts\Visualizer\WaveformVisualizerBehaviour.cs" />
<Compile Include="Assets\ThridParty\KinectScript\CameraIntrinsics.cs" /> <Compile Include="Assets\ThridParty\KinectScript\CameraIntrinsics.cs" />
<Compile Include="Assets\ThridParty\KinectScript\CollectionMap.cs" /> <Compile Include="Assets\ThridParty\KinectScript\CollectionMap.cs" />
<Compile Include="Assets\ThridParty\KinectScript\EventPump.cs" /> <Compile Include="Assets\ThridParty\KinectScript\EventPump.cs" />

77
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17
UnityProject/Assets/Scripts/VideoInput/InfraredCamera.cs
View file

@ -1,4 +1,5 @@
using System.IO; using System;
using System.IO;
using UnityEngine; using UnityEngine;
using Windows.Kinect; using Windows.Kinect;
@ -19,6 +20,7 @@ namespace VideoInput
private readonly InfraredFrameReader reader_; private readonly InfraredFrameReader reader_;
private readonly ushort [] irData_; private readonly ushort [] irData_;
public InfraredCamera() public InfraredCamera()
{ {
sensor_ = Windows.Kinect.KinectSensor.GetDefault(); sensor_ = Windows.Kinect.KinectSensor.GetDefault();
@ -31,8 +33,7 @@ namespace VideoInput
var frameDesc = sensor_.InfraredFrameSource.FrameDescription; var frameDesc = sensor_.InfraredFrameSource.FrameDescription;
irData_ = new ushort[frameDesc.LengthInPixels]; irData_ = new ushort[frameDesc.LengthInPixels];
Data = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.R16, false);
Data = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.R8, false);
if (!sensor_.IsOpen) if (!sensor_.IsOpen)
sensor_.Open(); sensor_.Open();
@ -47,10 +48,14 @@ namespace VideoInput
if (frame == null) return; if (frame == null) return;
frame.CopyFrameDataToArray(irData_); frame.CopyFrameDataToArray(irData_);
var rawTextureData = Data.GetRawTextureData();
for (var i = 0; i < irData_.Length; i++)
rawTextureData[i] = (byte)(irData_[i] >> 8);
unsafe
{
fixed(ushort* irDataPtr = irData_)
{
Data.LoadRawTextureData((IntPtr) irDataPtr, sizeof(ushort) * irData_.Length);
}
}
Data.Apply(); Data.Apply();
frame.Dispose(); frame.Dispose();
} }

8
UnityProject/Assets/Scripts/VideoInput/KinectManager.cs → UnityProject/Assets/Scripts/VideoInput/KinectManagerBehaviour.cs
View file

@ -1,15 +1,17 @@
using UnityEngine; using System;
using UnityEngine;
namespace VideoInput namespace VideoInput
{ {
public class KinectManager : MonoBehaviour public class KinectManagerBehaviour : MonoBehaviour
{ {
public IKinectSensor KinectSensor { get; private set; } public IKinectSensor KinectSensor { get; private set; }
private void Start() private void Awake()
{ {
var componentFactory = new ComponentFactory(); var componentFactory = new ComponentFactory();
KinectSensor = componentFactory.CreateKinectSensor(); KinectSensor = componentFactory.CreateKinectSensor();
} }
private void Update() private void Update()

11
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7
UnityProject/Assets/Scripts/Visualizer/PointCloud.cs
View file

@ -1,7 +0,0 @@
namespace VideoInput
{
public class PointCloud
{
}
}

24
UnityProject/Assets/Scripts/Visualizer/PointCloudBehaviour.cs Normal file
View file

@ -0,0 +1,24 @@
using UnityEngine;
using VideoInput;
namespace Visualizer
{
class PointCloudBehaviour : MonoBehaviour
{
[SerializeField] private KinectManagerBehaviour kinectManagerBehaviour;
[SerializeField] private GameObject debugPanel;
private Renderer renderer_;
void Start()
{
renderer_ = debugPanel.GetComponent<Renderer>();
renderer_.material.mainTexture = kinectManagerBehaviour.KinectSensor.InfraredCamera.Data;
}
void Update()
{
}
}
}

0
UnityProject/Assets/Scripts/Visualizer/PointCloud.cs.meta → UnityProject/Assets/Scripts/Visualizer/PointCloudBehaviour.cs.meta
View file

2
UnityProject/Assets/Scripts/Visualizer/WaveformVisualizer.cs → UnityProject/Assets/Scripts/Visualizer/WaveformVisualizerBehaviour.cs
View file

@ -2,7 +2,7 @@
namespace Visualizer namespace Visualizer
{ {
public class WaveformVisualizer : MonoBehaviour public class WaveformVisualizerBehaviour : MonoBehaviour
{ {
#pragma warning disable 649 #pragma warning disable 649
[SerializeField] private string pdArrayName; [SerializeField] private string pdArrayName;

0
UnityProject/Assets/Scripts/Visualizer/WaveformVisualizer.cs.meta → UnityProject/Assets/Scripts/Visualizer/WaveformVisualizerBehaviour.cs.meta
View file

2
UnityProject/Assets/ThridParty/KinectView/Scripts/InfraredSourceManager.cs
View file

@ -26,7 +26,7 @@ public class InfraredSourceManager : MonoBehaviour
_Reader = _Sensor.InfraredFrameSource.OpenReader(); _Reader = _Sensor.InfraredFrameSource.OpenReader();
var frameDesc = _Sensor.InfraredFrameSource.FrameDescription; var frameDesc = _Sensor.InfraredFrameSource.FrameDescription;
_Data = new ushort[frameDesc.LengthInPixels]; _Data = new ushort[frameDesc.LengthInPixels];
_RawData = new byte[frameDesc.LengthInPixels * 4]; _RawData = new byte[frameDesc.LengthInPixels];
_Texture = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.BGRA32, false); _Texture = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.BGRA32, false);
if (!_Sensor.IsOpen) if (!_Sensor.IsOpen)

2
UnityProject/ProjectSettings/ProjectSettings.asset
View file

@ -534,7 +534,7 @@ PlayerSettings:
il2cppCompilerConfiguration: {} il2cppCompilerConfiguration: {}
managedStrippingLevel: {} managedStrippingLevel: {}
incrementalIl2cppBuild: {} incrementalIl2cppBuild: {}
allowUnsafeCode: 0 allowUnsafeCode: 1
additionalIl2CppArgs: additionalIl2CppArgs:
scriptingRuntimeVersion: 1 scriptingRuntimeVersion: 1
apiCompatibilityLevelPerPlatform: apiCompatibilityLevelPerPlatform:

2
UnityProject/UnityProject.sln.DotSettings.user Normal file
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@ -0,0 +1,2 @@
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<s:Boolean x:Key="/Default/UserDictionary/Words/=Kinect/@EntryIndexedValue">True</s:Boolean></wpf:ResourceDictionary>