Merge branch 'refs/heads/master' into Azure_Integration_RenderBuffer
# Conflicts: # UnityProject/Assembly-CSharp-Editor.csproj # UnityProject/Assembly-CSharp.csproj # UnityProject/Assets/Scenes/Examples/Azure.meta # UnityProject/Assets/Scenes/Examples/Azure/AzureDemo.unity # UnityProject/Assets/Scenes/Examples/Azure/AzureDemo.unity.meta # UnityProject/Assets/Scripts/UnitTest.meta # UnityProject/Assets/ThridParty/Assets/Construction_Site_Column/Materials.meta
This commit is contained in:
Chikashi Miyama
commit
e2c873d099
34 changed files with 1202 additions and 3 deletions
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>>>>>>> refs/heads/master:UnityProject/Assets/Scenes/Examples/Azure.meta
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using UnityEngine;
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namespace Akvfx
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{
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public sealed class DeviceSettings : ScriptableObject
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{
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#region Editable fields
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[SerializeField] bool _autoExposure = true;
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[SerializeField, Range(0, 1)] float _exposure = 0.5f;
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[SerializeField] bool _autoWhiteBalance = true;
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[SerializeField, Range(0, 1)] float _whiteBalance = 0.5f;
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[SerializeField, Range(0, 1)] float _brightness = 0.5f;
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[SerializeField, Range(0, 1)] float _contrast = 0.5f;
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[SerializeField, Range(0, 1)] float _saturation = 0.5f;
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[SerializeField, Range(0, 1)] float _sharpness = 0.5f;
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[SerializeField, Range(0, 1)] float _gain = 1;
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[SerializeField] bool _powerIs60Hz = true;
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[SerializeField, Range(0, 6.6f)] float _maxDepth = 1;
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#endregion
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#region Public accessors
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public bool autoExposure {
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get { return _autoExposure; }
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set { _autoExposure = value; }
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}
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public float exposure {
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get { return _exposure; }
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set { _exposure = value; }
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}
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public bool autoWhiteBalance {
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get { return _autoWhiteBalance; }
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set { _autoWhiteBalance = value; }
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}
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public float whiteBalance {
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get { return _whiteBalance; }
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set { _whiteBalance = value; }
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}
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public float brightness {
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get { return _brightness; }
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set { _brightness = value; }
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}
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public float contrast {
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get { return _contrast; }
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set { _contrast = value; }
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}
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public float saturation {
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get { return _saturation; }
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set { _saturation = value; }
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}
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public float sharpness {
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get { return _sharpness; }
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set { _sharpness = value; }
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}
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public float gain {
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get { return _gain; }
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set { _gain = value; }
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}
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public bool enableBlc {
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get { return _enableBlc; }
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set { _enableBlc = value; }
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}
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public bool powerIs60Hz {
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get { return _powerIs60Hz; }
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set { _powerIs60Hz = value; }
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}
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public float maxDepth {
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get { return _maxDepth; }
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set { _maxDepth = value; }
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}
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#endregion
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#region Internal properties
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internal int ExposureDeviceValue { get {
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if (_autoExposure) return -1;
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var exp = Mathf.Pow(_exposure, 8);
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return (int)Mathf.Lerp(488.0f, 1000000.0f, exp);
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} }
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internal int WhiteBalanceDeviceValue { get {
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if (_autoWhiteBalance) return -1;
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var x = (int)Mathf.Lerp(2500, 10000, _whiteBalance);
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return x - x % 10; // Should be divisible by 10.
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} }
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internal int BrightnessDeviceValue { get {
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return (int)Mathf.Lerp(0, 255, _brightness);
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} }
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internal int ContrastDeviceValue { get {
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return (int)Mathf.Lerp(0, 10, _contrast);
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} }
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internal int SaturationDeviceValue { get {
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return (int)Mathf.Lerp(0, 63, _saturation);
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} }
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internal int SharpnessDeviceValue { get {
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return (int)Mathf.Lerp(0, 4, _sharpness);
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} }
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internal int GainDeviceValue { get {
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return (int)Mathf.Lerp(0, 255, _gain);
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} }
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internal int BlcDeviceValue { get {
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return _enableBlc ? 1 : 0;
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} }
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internal int PowerFreqDeviceValue { get {
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return _powerIs60Hz ? 2 : 1;
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} }
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#endregion
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}
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externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
8
UnityProject/Assets/ThridParty/Keijiro/Editor.meta
Normal file
8
UnityProject/Assets/ThridParty/Keijiro/Editor.meta
Normal file
|
|
@ -0,0 +1,8 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 9aff79d67109d4f4cb7dd61f35f6e452
|
||||||
|
folderAsset: yes
|
||||||
|
DefaultImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -0,0 +1,104 @@
|
||||||
|
using UnityEngine;
|
||||||
|
using UnityEditor;
|
||||||
|
|
||||||
|
namespace Akvfx
|
||||||
|
{
|
||||||
|
[CanEditMultipleObjects]
|
||||||
|
[CustomEditor(typeof(DeviceSettings))]
|
||||||
|
sealed class DeviceSettingsEditor : Editor
|
||||||
|
{
|
||||||
|
SerializedProperty _autoExposure;
|
||||||
|
SerializedProperty _exposure;
|
||||||
|
|
||||||
|
SerializedProperty _autoWhiteBalance;
|
||||||
|
SerializedProperty _whiteBalance;
|
||||||
|
|
||||||
|
SerializedProperty _brightness;
|
||||||
|
SerializedProperty _contrast;
|
||||||
|
SerializedProperty _saturation;
|
||||||
|
SerializedProperty _sharpness;
|
||||||
|
SerializedProperty _gain;
|
||||||
|
|
||||||
|
SerializedProperty _enableBlc;
|
||||||
|
SerializedProperty _powerIs60Hz;
|
||||||
|
|
||||||
|
SerializedProperty _maxDepth;
|
||||||
|
|
||||||
|
static readonly (
|
||||||
|
GUIContent enableBlc,
|
||||||
|
GUIContent powerIs60Hz
|
||||||
|
) _labels = (
|
||||||
|
new GUIContent("Enable BLC"),
|
||||||
|
new GUIContent("Power is 60Hz")
|
||||||
|
);
|
||||||
|
|
||||||
|
void OnEnable()
|
||||||
|
{
|
||||||
|
_autoExposure = serializedObject.FindProperty("_autoExposure");
|
||||||
|
_exposure = serializedObject.FindProperty("_exposure");
|
||||||
|
|
||||||
|
_autoWhiteBalance = serializedObject.FindProperty("_autoWhiteBalance");
|
||||||
|
_whiteBalance = serializedObject.FindProperty("_whiteBalance");
|
||||||
|
|
||||||
|
_brightness = serializedObject.FindProperty("_brightness");
|
||||||
|
_contrast = serializedObject.FindProperty("_contrast");
|
||||||
|
_saturation = serializedObject.FindProperty("_saturation");
|
||||||
|
_sharpness = serializedObject.FindProperty("_sharpness");
|
||||||
|
_gain = serializedObject.FindProperty("_gain");
|
||||||
|
|
||||||
|
_enableBlc = serializedObject.FindProperty("_enableBlc");
|
||||||
|
_powerIs60Hz = serializedObject.FindProperty("_powerIs60Hz");
|
||||||
|
|
||||||
|
_maxDepth = serializedObject.FindProperty("_maxDepth");
|
||||||
|
}
|
||||||
|
|
||||||
|
public override void OnInspectorGUI()
|
||||||
|
{
|
||||||
|
serializedObject.Update();
|
||||||
|
|
||||||
|
EditorGUILayout.PropertyField(_autoExposure);
|
||||||
|
if (_autoExposure.hasMultipleDifferentValues ||
|
||||||
|
!_autoExposure.boolValue)
|
||||||
|
{
|
||||||
|
EditorGUI.indentLevel++;
|
||||||
|
EditorGUILayout.PropertyField(_exposure);
|
||||||
|
EditorGUI.indentLevel--;
|
||||||
|
}
|
||||||
|
|
||||||
|
EditorGUILayout.PropertyField(_autoWhiteBalance);
|
||||||
|
if (_autoWhiteBalance.hasMultipleDifferentValues ||
|
||||||
|
!_autoWhiteBalance.boolValue)
|
||||||
|
{
|
||||||
|
EditorGUI.indentLevel++;
|
||||||
|
EditorGUILayout.PropertyField(_whiteBalance);
|
||||||
|
EditorGUI.indentLevel--;
|
||||||
|
}
|
||||||
|
|
||||||
|
EditorGUILayout.PropertyField(_brightness);
|
||||||
|
EditorGUILayout.PropertyField(_contrast);
|
||||||
|
EditorGUILayout.PropertyField(_saturation);
|
||||||
|
EditorGUILayout.PropertyField(_sharpness);
|
||||||
|
EditorGUILayout.PropertyField(_gain);
|
||||||
|
|
||||||
|
EditorGUILayout.PropertyField(_enableBlc, _labels.enableBlc);
|
||||||
|
EditorGUILayout.PropertyField(_powerIs60Hz, _labels.powerIs60Hz);
|
||||||
|
|
||||||
|
EditorGUILayout.PropertyField(_maxDepth);
|
||||||
|
|
||||||
|
serializedObject.ApplyModifiedProperties();
|
||||||
|
}
|
||||||
|
|
||||||
|
[MenuItem("Assets/Create/Akvfx/Device Settings")]
|
||||||
|
public static void CreateDeviceSettings()
|
||||||
|
{
|
||||||
|
var asset = ScriptableObject.CreateInstance<DeviceSettings>();
|
||||||
|
|
||||||
|
AssetDatabase.CreateAsset(asset, "Assets/Akvfx Settings.asset");
|
||||||
|
AssetDatabase.SaveAssets();
|
||||||
|
|
||||||
|
EditorUtility.FocusProjectWindow();
|
||||||
|
|
||||||
|
Selection.activeObject = asset;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 39b37077152d5024ab6ca873d5de277f
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
8
UnityProject/Assets/ThridParty/Keijiro/Internal.meta
Normal file
8
UnityProject/Assets/ThridParty/Keijiro/Internal.meta
Normal file
|
|
@ -0,0 +1,8 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 84f2346cb4622004499b20cda8c2bee0
|
||||||
|
folderAsset: yes
|
||||||
|
DefaultImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -0,0 +1,110 @@
|
||||||
|
using Microsoft.Azure.Kinect.Sensor;
|
||||||
|
|
||||||
|
namespace Akvfx
|
||||||
|
{
|
||||||
|
sealed class DeviceSettingController
|
||||||
|
{
|
||||||
|
#region Public methods
|
||||||
|
|
||||||
|
public DeviceSettingController(Device device, DeviceSettings initial)
|
||||||
|
{
|
||||||
|
ApplyInternal(device, initial, true);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void ApplySettings(Device device, DeviceSettings settings)
|
||||||
|
{
|
||||||
|
ApplyInternal(device, settings, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
#region Cached control values
|
||||||
|
|
||||||
|
int _exposure;
|
||||||
|
int _whiteBalance;
|
||||||
|
int _brightness;
|
||||||
|
int _contrast;
|
||||||
|
int _saturation;
|
||||||
|
int _sharpness;
|
||||||
|
int _gain;
|
||||||
|
int _blc;
|
||||||
|
int _powerFreq;
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
#region Private methods
|
||||||
|
|
||||||
|
int ApplyControl(
|
||||||
|
Device device, ColorControlCommand command,
|
||||||
|
int newValue, int prevValue, bool forceApply
|
||||||
|
)
|
||||||
|
{
|
||||||
|
// If nothing was changed, simply return the previous value.
|
||||||
|
if (!forceApply && newValue == prevValue) return prevValue;
|
||||||
|
|
||||||
|
// Apply the new value to the control.
|
||||||
|
device.SetColorControl(
|
||||||
|
command,
|
||||||
|
newValue < 0 ? ColorControlMode.Auto : ColorControlMode.Manual,
|
||||||
|
newValue < 0 ? 0 : newValue
|
||||||
|
);
|
||||||
|
return newValue;
|
||||||
|
}
|
||||||
|
|
||||||
|
void ApplyInternal(Device device, DeviceSettings settings, bool forceApply)
|
||||||
|
{
|
||||||
|
_exposure = ApplyControl(
|
||||||
|
device, ColorControlCommand.ExposureTimeAbsolute,
|
||||||
|
settings.ExposureDeviceValue, _exposure, forceApply
|
||||||
|
);
|
||||||
|
|
||||||
|
_whiteBalance = ApplyControl(
|
||||||
|
device, ColorControlCommand.Whitebalance,
|
||||||
|
settings.WhiteBalanceDeviceValue, _whiteBalance, forceApply
|
||||||
|
);
|
||||||
|
|
||||||
|
_brightness = ApplyControl(
|
||||||
|
device, ColorControlCommand.Brightness,
|
||||||
|
settings.BrightnessDeviceValue, _brightness, forceApply
|
||||||
|
);
|
||||||
|
|
||||||
|
_contrast = ApplyControl(
|
||||||
|
device, ColorControlCommand.Contrast,
|
||||||
|
settings.ContrastDeviceValue, _contrast, forceApply
|
||||||
|
);
|
||||||
|
|
||||||
|
_saturation = ApplyControl(
|
||||||
|
device, ColorControlCommand.Saturation,
|
||||||
|
settings.SaturationDeviceValue, _saturation, forceApply
|
||||||
|
);
|
||||||
|
|
||||||
|
_sharpness = ApplyControl(
|
||||||
|
device, ColorControlCommand.Sharpness,
|
||||||
|
settings.SharpnessDeviceValue, _sharpness, forceApply
|
||||||
|
);
|
||||||
|
|
||||||
|
// This is not documented, but the gain parameter can't update
|
||||||
|
// while the auto exposure is enabled. To delay updates, we do a
|
||||||
|
// bit tricky thing here.
|
||||||
|
if (_exposure < 0 || forceApply)
|
||||||
|
_gain = -1;
|
||||||
|
else
|
||||||
|
_gain = ApplyControl(
|
||||||
|
device, ColorControlCommand.Gain,
|
||||||
|
settings.GainDeviceValue, _gain, false
|
||||||
|
);
|
||||||
|
|
||||||
|
_blc = ApplyControl(
|
||||||
|
device, ColorControlCommand.BacklightCompensation,
|
||||||
|
settings.BlcDeviceValue, _blc, forceApply
|
||||||
|
);
|
||||||
|
|
||||||
|
_powerFreq = ApplyControl(
|
||||||
|
device, ColorControlCommand.PowerlineFrequency,
|
||||||
|
settings.PowerFreqDeviceValue, _powerFreq, forceApply
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 492dfb729c0136d48b2917cc16811e38
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -0,0 +1,75 @@
|
||||||
|
//
|
||||||
|
// This file contains some utility extensions for Unity graphics classes.
|
||||||
|
// These extensions are mainly for adding Span support to storage classes.
|
||||||
|
//
|
||||||
|
|
||||||
|
using UnityEngine;
|
||||||
|
using System;
|
||||||
|
using System.Reflection;
|
||||||
|
|
||||||
|
namespace Akvfx
|
||||||
|
{
|
||||||
|
static class GraphicsExtensions
|
||||||
|
{
|
||||||
|
// MRT with tow render textures
|
||||||
|
public static void SetRenderTarget(RenderTexture rt1, RenderTexture rt2)
|
||||||
|
{
|
||||||
|
_target2[0] = rt1.colorBuffer;
|
||||||
|
_target2[1] = rt2.colorBuffer;
|
||||||
|
Graphics.SetRenderTarget(_target2, rt1.depthBuffer);
|
||||||
|
}
|
||||||
|
|
||||||
|
static RenderBuffer [] _target2 = new RenderBuffer[2];
|
||||||
|
}
|
||||||
|
|
||||||
|
static class Texture2DExtensions
|
||||||
|
{
|
||||||
|
// LoadRawTextureData with ReadOnlySpan
|
||||||
|
public unsafe static void LoadRawTextureData
|
||||||
|
(this Texture2D texture, ReadOnlySpan<byte> data)
|
||||||
|
{
|
||||||
|
fixed (byte* pData = &data.GetPinnableReference())
|
||||||
|
texture.LoadRawTextureData((IntPtr)pData, data.Length);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static class ComputeBufferExtensions
|
||||||
|
{
|
||||||
|
// SetData with ReadOnlySpan
|
||||||
|
public unsafe static void SetData<T>
|
||||||
|
(this ComputeBuffer buffer, ReadOnlySpan<T> data)
|
||||||
|
where T : unmanaged
|
||||||
|
{
|
||||||
|
fixed (T* pData = &data.GetPinnableReference())
|
||||||
|
buffer.SetData((IntPtr)pData, data.Length, sizeof(T));
|
||||||
|
}
|
||||||
|
|
||||||
|
// Directly load an unmanaged memory block to a compute buffer via an
|
||||||
|
// Intptr. This is not a public interface so will be broken one day.
|
||||||
|
// DO NOT TRY AT HOME.
|
||||||
|
public static void SetData
|
||||||
|
(this ComputeBuffer buffer, IntPtr pointer, int count, int stride)
|
||||||
|
{
|
||||||
|
if (_method == null)
|
||||||
|
{
|
||||||
|
_method = typeof(ComputeBuffer).GetMethod(
|
||||||
|
"InternalSetNativeData",
|
||||||
|
BindingFlags.InvokeMethod |
|
||||||
|
BindingFlags.NonPublic |
|
||||||
|
BindingFlags.Instance
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
_args5[0] = pointer;
|
||||||
|
_args5[1] = 0; // source offset
|
||||||
|
_args5[2] = 0; // buffer offset
|
||||||
|
_args5[3] = count;
|
||||||
|
_args5[4] = stride;
|
||||||
|
|
||||||
|
_method.Invoke(buffer, _args5);
|
||||||
|
}
|
||||||
|
|
||||||
|
static MethodInfo _method;
|
||||||
|
static object [] _args5 = new object[5];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 01b4ad67ec4d57f4d958129b1d240d75
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -0,0 +1,29 @@
|
||||||
|
using System.Reflection;
|
||||||
|
|
||||||
|
namespace Akvfx
|
||||||
|
{
|
||||||
|
static class K4aExtensions
|
||||||
|
{
|
||||||
|
// Set false to Allocator.SafeCopyNativeBuffers. You can earn a few
|
||||||
|
// milliseconds by skipping safe-copy. Note that it turns minor bugs
|
||||||
|
// undebuggable crashes.
|
||||||
|
public static void DisableSafeCopyNativeBuffers()
|
||||||
|
{
|
||||||
|
var allocator = System.Type.GetType(
|
||||||
|
"Microsoft.Azure.Kinect.Sensor.Allocator,Microsoft.Azure.Kinect.Sensor"
|
||||||
|
);
|
||||||
|
|
||||||
|
var singleton = allocator.GetProperty(
|
||||||
|
"Singleton",
|
||||||
|
BindingFlags.Public | BindingFlags.Static
|
||||||
|
);
|
||||||
|
|
||||||
|
var safeCopyNativeBuffers = allocator.GetProperty(
|
||||||
|
"SafeCopyNativeBuffers",
|
||||||
|
BindingFlags.Public | BindingFlags.Instance
|
||||||
|
);
|
||||||
|
|
||||||
|
safeCopyNativeBuffers.SetValue(singleton.GetValue(null), false);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 275db18c032614049a8e1b71387b610a
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -0,0 +1,150 @@
|
||||||
|
using Microsoft.Azure.Kinect.Sensor;
|
||||||
|
using System;
|
||||||
|
using System.Collections.Concurrent;
|
||||||
|
using System.Threading;
|
||||||
|
using System.Threading.Tasks;
|
||||||
|
|
||||||
|
namespace Akvfx
|
||||||
|
{
|
||||||
|
sealed class ThreadedDriver : IDisposable
|
||||||
|
{
|
||||||
|
#region Public properties and methods
|
||||||
|
|
||||||
|
public ThreadedDriver(DeviceSettings settings)
|
||||||
|
{
|
||||||
|
// FIXME: Dangerous. We should do this only on Player.
|
||||||
|
K4aExtensions.DisableSafeCopyNativeBuffers();
|
||||||
|
|
||||||
|
_settings = settings;
|
||||||
|
|
||||||
|
_captureThread = new Thread(CaptureThread);
|
||||||
|
_captureThread.Start();
|
||||||
|
}
|
||||||
|
|
||||||
|
public void Dispose()
|
||||||
|
{
|
||||||
|
_terminate = true;
|
||||||
|
_captureThread.Join();
|
||||||
|
|
||||||
|
TrimQueue(0);
|
||||||
|
ReleaseLastFrame();
|
||||||
|
|
||||||
|
GC.SuppressFinalize(this);
|
||||||
|
}
|
||||||
|
|
||||||
|
public ReadOnlySpan<float> XYTable
|
||||||
|
{
|
||||||
|
get { return _xyTable != null ? _xyTable.Data : null; }
|
||||||
|
}
|
||||||
|
|
||||||
|
public (ReadOnlyMemory<byte> color,
|
||||||
|
ReadOnlyMemory<byte> depth) LockLastFrame()
|
||||||
|
{
|
||||||
|
// Try retrieving the last frame.
|
||||||
|
if (_lockedFrame.capture == null)
|
||||||
|
_queue.TryDequeue(out _lockedFrame);
|
||||||
|
|
||||||
|
// Return null if it failed to retrieve.
|
||||||
|
if (_lockedFrame.capture == null) return (null, null);
|
||||||
|
|
||||||
|
return (_lockedFrame.capture.Color.Memory,
|
||||||
|
_lockedFrame.depth.Memory);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void ReleaseLastFrame()
|
||||||
|
{
|
||||||
|
_lockedFrame.capture?.Dispose();
|
||||||
|
_lockedFrame.depth?.Dispose();
|
||||||
|
_lockedFrame = (null, null);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
#region Private objects
|
||||||
|
|
||||||
|
DeviceSettings _settings;
|
||||||
|
XYTable _xyTable;
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
#region Capture queue
|
||||||
|
|
||||||
|
ConcurrentQueue<(Capture capture, Image depth)>
|
||||||
|
_queue = new ConcurrentQueue<(Capture, Image)>();
|
||||||
|
|
||||||
|
(Capture capture, Image depth) _lockedFrame;
|
||||||
|
|
||||||
|
// Trim the queue to a specified count.
|
||||||
|
void TrimQueue(int count)
|
||||||
|
{
|
||||||
|
while (_queue.Count > count)
|
||||||
|
{
|
||||||
|
(Capture capture, Image depth) temp;
|
||||||
|
_queue.TryDequeue(out temp);
|
||||||
|
temp.capture?.Dispose();
|
||||||
|
temp.depth?.Dispose();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
#region Capture thread
|
||||||
|
|
||||||
|
Thread _captureThread;
|
||||||
|
bool _terminate;
|
||||||
|
|
||||||
|
void CaptureThread()
|
||||||
|
{
|
||||||
|
// If there is no available device, do nothing.
|
||||||
|
if (Device.GetInstalledCount() == 0) return;
|
||||||
|
|
||||||
|
// Open the default device.
|
||||||
|
var device = Device.Open();
|
||||||
|
|
||||||
|
// Start capturing with custom settings.
|
||||||
|
device.StartCameras(
|
||||||
|
new DeviceConfiguration {
|
||||||
|
ColorFormat = ImageFormat.ColorBGRA32,
|
||||||
|
ColorResolution = ColorResolution.R1536p, // 2048 x 1536 (4:3)
|
||||||
|
DepthMode = DepthMode.NFOV_Unbinned, // 640x576
|
||||||
|
SynchronizedImagesOnly = true
|
||||||
|
}
|
||||||
|
);
|
||||||
|
|
||||||
|
// Construct XY table as a background task.
|
||||||
|
Task.Run(() => {
|
||||||
|
_xyTable = new XYTable(device.GetCalibration(), 2048, 1536);
|
||||||
|
});
|
||||||
|
|
||||||
|
// Set up the transformation object.
|
||||||
|
var transformation = new Transformation(device.GetCalibration());
|
||||||
|
|
||||||
|
// Initially apply the device settings.
|
||||||
|
var setter = new DeviceSettingController(device, _settings);
|
||||||
|
|
||||||
|
while (!_terminate)
|
||||||
|
{
|
||||||
|
// Get a frame capture.
|
||||||
|
var capture = device.GetCapture();
|
||||||
|
|
||||||
|
// Transform the depth image to the color perspective.
|
||||||
|
var depth = transformation.DepthImageToColorCamera(capture);
|
||||||
|
|
||||||
|
// Push the frame to the capture queue.
|
||||||
|
_queue.Enqueue((capture, depth));
|
||||||
|
|
||||||
|
// Remove old frames.
|
||||||
|
TrimQueue(1);
|
||||||
|
|
||||||
|
// Apply changes on the device settings.
|
||||||
|
setter.ApplySettings(device, _settings);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Cleaning up.
|
||||||
|
transformation.Dispose();
|
||||||
|
device.Dispose();
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: b43ac31f3a29da64ba703a0bcf364a95
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -0,0 +1,67 @@
|
||||||
|
Shader "Hidden/Akvfx/Unproject"
|
||||||
|
{
|
||||||
|
CGINCLUDE
|
||||||
|
|
||||||
|
#include "UnityCG.cginc"
|
||||||
|
|
||||||
|
texture2D _ColorTexture;
|
||||||
|
texture2D _DepthTexture;
|
||||||
|
StructuredBuffer<float> _XYTable;
|
||||||
|
float _MaxDepth;
|
||||||
|
|
||||||
|
void Vertex(
|
||||||
|
float4 position : POSITION,
|
||||||
|
out float4 positionOut : SV_Position,
|
||||||
|
inout float2 texCoord : TEXCOORD0
|
||||||
|
)
|
||||||
|
{
|
||||||
|
positionOut = UnityObjectToClipPos(position);
|
||||||
|
}
|
||||||
|
|
||||||
|
void Fragment(
|
||||||
|
float4 position : SV_Position,
|
||||||
|
float2 texCoord : TEXCOORD0,
|
||||||
|
out float4 colorOut : SV_Target0,
|
||||||
|
out float4 positionOut : SV_Target1
|
||||||
|
)
|
||||||
|
{
|
||||||
|
uint w, h;
|
||||||
|
_ColorTexture.GetDimensions(w, h);
|
||||||
|
|
||||||
|
// Texture index
|
||||||
|
uint tx = texCoord.x * w;
|
||||||
|
uint ty = texCoord.y * h;
|
||||||
|
|
||||||
|
// Color sample
|
||||||
|
float4 color = _ColorTexture[uint2(tx, ty)];
|
||||||
|
|
||||||
|
// Depth sample (int16 -> float)
|
||||||
|
int d0 = _DepthTexture[uint2(tx * 2 + 0, ty)] * 255;
|
||||||
|
int d1 = _DepthTexture[uint2(tx * 2 + 1, ty)] * 255;
|
||||||
|
float depth = (float)(d0 + (d1 << 8)) / 1000;
|
||||||
|
float mask = depth > 0 && depth < _MaxDepth;
|
||||||
|
float z = lerp(_MaxDepth, depth, mask);
|
||||||
|
|
||||||
|
// XY table lookup
|
||||||
|
uint xy_i = (tx + ty * w) * 2;
|
||||||
|
float2 xy = float2(_XYTable[xy_i], -_XYTable[xy_i + 1]);
|
||||||
|
|
||||||
|
// MRT output write
|
||||||
|
colorOut = float4(color.rgb, mask);
|
||||||
|
positionOut = float4(xy * z, z, mask);
|
||||||
|
}
|
||||||
|
|
||||||
|
ENDCG
|
||||||
|
|
||||||
|
SubShader
|
||||||
|
{
|
||||||
|
Cull Off ZWrite Off ZTest Always
|
||||||
|
Pass
|
||||||
|
{
|
||||||
|
CGPROGRAM
|
||||||
|
#pragma vertex Vertex
|
||||||
|
#pragma fragment Fragment
|
||||||
|
ENDCG
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,9 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: c2bfd9668998b6848ac60594704c344c
|
||||||
|
ShaderImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
defaultTextures: []
|
||||||
|
nonModifiableTextures: []
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
80
UnityProject/Assets/ThridParty/Keijiro/Internal/XYTable.cs
Normal file
80
UnityProject/Assets/ThridParty/Keijiro/Internal/XYTable.cs
Normal file
|
|
@ -0,0 +1,80 @@
|
||||||
|
using Microsoft.Azure.Kinect.Sensor;
|
||||||
|
using System;
|
||||||
|
using System.Runtime.InteropServices;
|
||||||
|
using System.Threading.Tasks;
|
||||||
|
|
||||||
|
namespace Akvfx
|
||||||
|
{
|
||||||
|
//
|
||||||
|
// Per pixel ray direction table ("XY table") used to unproject depth
|
||||||
|
// samples to the 3D camera space
|
||||||
|
//
|
||||||
|
// This class directly invokes a native method (k4a_calibration_2d_to_3d)
|
||||||
|
// contained in libk4a to avoid double symbol definition problem between
|
||||||
|
// System.Numerics and System.Numerics.Vectors.
|
||||||
|
//
|
||||||
|
sealed class XYTable
|
||||||
|
{
|
||||||
|
// Public property: Table data
|
||||||
|
public ReadOnlySpan<float> Data { get { return _data; } }
|
||||||
|
|
||||||
|
// Float vvector types
|
||||||
|
struct Float2 { public float x, y; }
|
||||||
|
struct Float3 { public float x, y, z; }
|
||||||
|
|
||||||
|
// Data storage
|
||||||
|
float [] _data;
|
||||||
|
|
||||||
|
// Constructor
|
||||||
|
public XYTable(Calibration calibration, int width, int height)
|
||||||
|
{
|
||||||
|
// Data storage allocation
|
||||||
|
var table = new float [width * height * 2];
|
||||||
|
|
||||||
|
// XY table initialization
|
||||||
|
// These loops could take a significant amount of time (e.g. 1 sec)
|
||||||
|
// even on a decent desktop PC. Luckily, this can be easily
|
||||||
|
// parallelized by using Parallel.For, so we did.
|
||||||
|
Parallel.For(0, height, y => {
|
||||||
|
Float2 v2;
|
||||||
|
Float3 v3;
|
||||||
|
bool isValid;
|
||||||
|
|
||||||
|
v2.y = y;
|
||||||
|
var offs = width * 2 * y;
|
||||||
|
|
||||||
|
for (var x = 0; x < width; x++)
|
||||||
|
{
|
||||||
|
v2.x = x;
|
||||||
|
|
||||||
|
k4a_calibration_2d_to_3d(
|
||||||
|
ref calibration,
|
||||||
|
ref v2, 1,
|
||||||
|
CalibrationDeviceType.Color,
|
||||||
|
CalibrationDeviceType.Color,
|
||||||
|
out v3,
|
||||||
|
out isValid
|
||||||
|
);
|
||||||
|
|
||||||
|
table[offs++] = v3.x;
|
||||||
|
table[offs++] = v3.y;
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
// Publish the table data.
|
||||||
|
_data = table;
|
||||||
|
}
|
||||||
|
|
||||||
|
// k4a_calibration_2d_to_3d native method from libk4a
|
||||||
|
[DllImport("k4a", CallingConvention = CallingConvention.Cdecl)]
|
||||||
|
static extern int k4a_calibration_2d_to_3d(
|
||||||
|
[In] ref Calibration calibration,
|
||||||
|
ref Float2 source_point2d,
|
||||||
|
float source_depth,
|
||||||
|
CalibrationDeviceType source_camera,
|
||||||
|
CalibrationDeviceType target_camera,
|
||||||
|
out Float3 target_point3d,
|
||||||
|
out bool valid
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: efd020f99d8831e4a9f43be37d1de501
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
91
UnityProject/Assets/ThridParty/Keijiro/PointCloudBaker.cs
Normal file
91
UnityProject/Assets/ThridParty/Keijiro/PointCloudBaker.cs
Normal file
|
|
@ -0,0 +1,91 @@
|
||||||
|
using UnityEngine;
|
||||||
|
using GraphicsFormat = UnityEngine.Experimental.Rendering.GraphicsFormat;
|
||||||
|
|
||||||
|
namespace Akvfx
|
||||||
|
{
|
||||||
|
public sealed class PointCloudBaker : MonoBehaviour
|
||||||
|
{
|
||||||
|
#region Editable attributes
|
||||||
|
|
||||||
|
[SerializeField] DeviceSettings _deviceSettings = null;
|
||||||
|
[SerializeField] RenderTexture _colorTexture = null;
|
||||||
|
[SerializeField] RenderTexture _positionTexture = null;
|
||||||
|
[SerializeField] Shader _shader = null;
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
#region Internal objects
|
||||||
|
|
||||||
|
ThreadedDriver _driver;
|
||||||
|
Material _material;
|
||||||
|
ComputeBuffer _xyTable;
|
||||||
|
(Texture2D color, Texture2D depth) _temporaries;
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
#region MonoBehaviour implementation
|
||||||
|
|
||||||
|
void Start()
|
||||||
|
{
|
||||||
|
// Start capturing via the threaded driver.
|
||||||
|
_driver = new ThreadedDriver(_deviceSettings);
|
||||||
|
|
||||||
|
// Temporary objects for convertion shader
|
||||||
|
_material = new Material(_shader);
|
||||||
|
_temporaries = (
|
||||||
|
new Texture2D(2048, 1536, GraphicsFormat.B8G8R8A8_SRGB, 0),
|
||||||
|
new Texture2D(2048 * 2, 1536, GraphicsFormat.R8_UNorm, 0)
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
void OnDestroy()
|
||||||
|
{
|
||||||
|
if (_material != null) Destroy(_material);
|
||||||
|
_xyTable?.Dispose();
|
||||||
|
if (_temporaries.color != null) Destroy(_temporaries.color);
|
||||||
|
if (_temporaries.depth != null) Destroy(_temporaries.depth);
|
||||||
|
_driver?.Dispose();
|
||||||
|
}
|
||||||
|
|
||||||
|
RenderBuffer[] _mrt = new RenderBuffer[2];
|
||||||
|
|
||||||
|
unsafe void Update()
|
||||||
|
{
|
||||||
|
// Try initializing XY table if it's not ready.
|
||||||
|
if (_xyTable == null)
|
||||||
|
{
|
||||||
|
var data = _driver.XYTable;
|
||||||
|
if (data.IsEmpty) return; // Table is not ready.
|
||||||
|
|
||||||
|
// Allocate and initialize the XY table.
|
||||||
|
_xyTable = new ComputeBuffer(data.Length, sizeof(float));
|
||||||
|
_xyTable.SetData(data);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Try retrieving the last frame.
|
||||||
|
var (color, depth) = _driver.LockLastFrame();
|
||||||
|
if (color.IsEmpty || depth.IsEmpty) return;
|
||||||
|
|
||||||
|
// Load the frame data into the temporary textures.
|
||||||
|
_temporaries.color.LoadRawTextureData(color.Span);
|
||||||
|
_temporaries.depth.LoadRawTextureData(depth.Span);
|
||||||
|
_temporaries.color.Apply();
|
||||||
|
_temporaries.depth.Apply();
|
||||||
|
|
||||||
|
// We don't need the last frame any more.
|
||||||
|
_driver.ReleaseLastFrame();
|
||||||
|
|
||||||
|
// Invoke the unprojection shader.
|
||||||
|
_material.SetTexture("_ColorTexture", _temporaries.color);
|
||||||
|
_material.SetTexture("_DepthTexture", _temporaries.depth);
|
||||||
|
_material.SetBuffer("_XYTable", _xyTable);
|
||||||
|
_material.SetFloat("_MaxDepth", _deviceSettings.maxDepth);
|
||||||
|
var prevRT = RenderTexture.active;
|
||||||
|
GraphicsExtensions.SetRenderTarget(_colorTexture, _positionTexture);
|
||||||
|
Graphics.Blit(null, _material, 0);
|
||||||
|
RenderTexture.active = prevRT;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 48e1b0f548fe9b74c90eb10da5cffd13
|
||||||
|
MonoImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
serializedVersion: 2
|
||||||
|
defaultReferences: []
|
||||||
|
executionOrder: 0
|
||||||
|
icon: {instanceID: 0}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -1,5 +1,13 @@
|
||||||
{
|
{
|
||||||
|
"scopedRegistries": [
|
||||||
|
{
|
||||||
|
"name": "Unity NuGet",
|
||||||
|
"url": "https://unitynuget-registry.azurewebsites.net",
|
||||||
|
"scopes": [
|
||||||
|
"org.nuget"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
],
|
||||||
"dependencies": {
|
"dependencies": {
|
||||||
"com.unity.2d.sprite": "1.0.0",
|
"com.unity.2d.sprite": "1.0.0",
|
||||||
"com.unity.2d.tilemap": "1.0.0",
|
"com.unity.2d.tilemap": "1.0.0",
|
||||||
|
|
@ -19,6 +27,7 @@
|
||||||
"com.unity.timeline": "1.1.0",
|
"com.unity.timeline": "1.1.0",
|
||||||
"com.unity.ugui": "1.0.0",
|
"com.unity.ugui": "1.0.0",
|
||||||
"com.unity.visualeffectgraph": "6.9.2-preview",
|
"com.unity.visualeffectgraph": "6.9.2-preview",
|
||||||
|
"org.nuget.system.memory": "4.5.3",
|
||||||
"com.unity.modules.ai": "1.0.0",
|
"com.unity.modules.ai": "1.0.0",
|
||||||
"com.unity.modules.androidjni": "1.0.0",
|
"com.unity.modules.androidjni": "1.0.0",
|
||||||
"com.unity.modules.animation": "1.0.0",
|
"com.unity.modules.animation": "1.0.0",
|
||||||
|
|
|
||||||
|
|
@ -216,4 +216,5 @@ QualitySettings:
|
||||||
asyncUploadPersistentBuffer: 1
|
asyncUploadPersistentBuffer: 1
|
||||||
resolutionScalingFixedDPIFactor: 1
|
resolutionScalingFixedDPIFactor: 1
|
||||||
excludedTargetPlatforms: []
|
excludedTargetPlatforms: []
|
||||||
m_PerPlatformDefaultQuality: {}
|
m_PerPlatformDefaultQuality:
|
||||||
|
Standalone: 0
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue