384 lines
16 KiB
C#
384 lines
16 KiB
C#
using UnityEngine;
|
|
using System.Collections;
|
|
using com.rfilkov.kinect;
|
|
|
|
|
|
namespace com.rfilkov.components
|
|
{
|
|
/// <summary>
|
|
/// UserMeshRenderer renders virtual mesh of a user in the scene, as detected by the given sensor.
|
|
/// </summary>
|
|
public class UserMeshRenderer : MonoBehaviour
|
|
{
|
|
[Tooltip("Index of the player, tracked by this component. 0 - the 1st player only, 1 - the 2nd player only, etc.")]
|
|
public int playerIndex = 0;
|
|
|
|
[Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
|
|
public int sensorIndex = 0;
|
|
|
|
[Tooltip("Resolution of the images used to generate the scene.")]
|
|
private DepthSensorBase.PointCloudResolution sourceImageResolution = DepthSensorBase.PointCloudResolution.DepthCameraResolution;
|
|
|
|
[Tooltip("Whether to show the mesh as point cloud, or as solid mesh.")]
|
|
public bool showAsPointCloud = true;
|
|
|
|
[Tooltip("Time interval between scene mesh updates, in seconds. 0 means no wait.")]
|
|
private float updateMeshInterval = 0f;
|
|
|
|
//[Tooltip("Whether to update the mesh collider as well, when the user mesh changes.")]
|
|
//public bool updateMeshCollider = false;
|
|
|
|
[Tooltip("Time interval between mesh-collider updates, in seconds. 0 means no mesh-collider updates.")]
|
|
private float updateColliderInterval = 0f;
|
|
|
|
|
|
// reference to object's mesh
|
|
private Mesh mesh = null;
|
|
|
|
// references to KM and data
|
|
private KinectManager kinectManager = null;
|
|
private KinectInterop.SensorData sensorData = null;
|
|
private DepthSensorBase sensorInt = null;
|
|
private Vector3 spaceScale = Vector3.zero;
|
|
|
|
// render textures
|
|
private RenderTexture colorTexture = null;
|
|
private RenderTexture colorTextureCopy = null;
|
|
private bool colorTextureCreated = false;
|
|
|
|
// times
|
|
private ulong lastSpaceCoordsTime = 0;
|
|
private float lastMeshUpdateTime = 0f;
|
|
private float lastColliderUpdateTime = 0f;
|
|
|
|
// user parameters
|
|
//private ulong prevUserId = 0;
|
|
private ulong userId = 0;
|
|
private byte userBodyIndex = 255;
|
|
private Vector3 userBodyPos = Vector3.zero;
|
|
|
|
// image parameters
|
|
private int imageWidth = 0;
|
|
private int imageHeight = 0;
|
|
|
|
// mesh parameters
|
|
private Vector3[] spaceTable = null;
|
|
private Vector3[] meshVertices = null;
|
|
private int[] meshIndices = null;
|
|
private byte[] meshVertUsed = null;
|
|
private bool bMeshInited = false;
|
|
|
|
|
|
void Start()
|
|
{
|
|
// get sensor data
|
|
kinectManager = KinectManager.Instance;
|
|
sensorData = (kinectManager != null && kinectManager.IsInitialized()) ? kinectManager.GetSensorData(sensorIndex) : null;
|
|
}
|
|
|
|
|
|
void OnDestroy()
|
|
{
|
|
if (bMeshInited)
|
|
{
|
|
// release the mesh-related resources
|
|
FinishMesh();
|
|
}
|
|
}
|
|
|
|
|
|
void LateUpdate()
|
|
{
|
|
if (mesh == null && sensorData != null && sensorData.depthCamIntr != null)
|
|
{
|
|
// init mesh and its related data
|
|
InitMesh();
|
|
}
|
|
|
|
if (bMeshInited)
|
|
{
|
|
// user params
|
|
userId = kinectManager.GetUserIdByIndex(playerIndex);
|
|
userBodyIndex = (byte)(userId != 0 ? kinectManager.GetBodyIndexByUserId(userId) : 255);
|
|
userBodyPos = userId != 0 ? kinectManager.GetUserKinectPosition(userId, true) : Vector3.zero;
|
|
|
|
// update the mesh
|
|
UpdateMesh();
|
|
}
|
|
}
|
|
|
|
|
|
// inits the mesh and related data
|
|
private void InitMesh()
|
|
{
|
|
// create mesh
|
|
mesh = new Mesh
|
|
{
|
|
name = "User" + playerIndex + "Mesh-S" + sensorIndex,
|
|
indexFormat = UnityEngine.Rendering.IndexFormat.UInt32
|
|
};
|
|
|
|
MeshFilter meshFilter = GetComponent<MeshFilter>();
|
|
if (meshFilter != null)
|
|
{
|
|
meshFilter.mesh = mesh;
|
|
}
|
|
else
|
|
{
|
|
Debug.LogWarning("MeshFilter not found! You may not see the mesh on screen");
|
|
}
|
|
|
|
if (sensorData != null && sensorData.sensorInterface != null)
|
|
{
|
|
sensorInt = (DepthSensorBase)sensorData.sensorInterface;
|
|
|
|
Vector2Int imageRes = Vector2Int.zero;
|
|
if (sensorInt.pointCloudColorTexture == null)
|
|
{
|
|
sensorInt.pointCloudResolution = sourceImageResolution;
|
|
imageRes = sensorInt.GetPointCloudTexResolution(sensorData);
|
|
|
|
colorTexture = KinectInterop.CreateRenderTexture(colorTexture, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
|
|
sensorInt.pointCloudColorTexture = colorTexture;
|
|
colorTextureCreated = true;
|
|
}
|
|
else
|
|
{
|
|
imageRes = sensorInt.GetPointCloudTexResolution(sensorData);
|
|
colorTexture = sensorInt.pointCloudColorTexture;
|
|
colorTextureCreated = false;
|
|
}
|
|
|
|
// create copy texture
|
|
colorTextureCopy = KinectInterop.CreateRenderTexture(colorTextureCopy, imageRes.x, imageRes.y, RenderTextureFormat.ARGB32);
|
|
|
|
// set the color texture
|
|
Renderer meshRenderer = GetComponent<Renderer>();
|
|
if (meshRenderer && meshRenderer.material && meshRenderer.material.mainTexture == null)
|
|
{
|
|
meshRenderer.material.mainTexture = colorTextureCopy; // sensorInt.pointCloudColorTexture;
|
|
//meshRenderer.material.SetTextureScale("_MainTex", kinectManager.GetColorImageScale(sensorIndex));
|
|
}
|
|
|
|
// image width & height
|
|
imageWidth = imageRes.x;
|
|
imageHeight = imageRes.y;
|
|
int pointCount = imageWidth * imageHeight;
|
|
|
|
// mesh arrays
|
|
meshVertices = new Vector3[pointCount];
|
|
meshIndices = new int[6 * pointCount]; // 2 triangles per vertex, last row and column excluded
|
|
meshVertUsed = new byte[pointCount];
|
|
spaceScale = kinectManager.GetSensorSpaceScale(sensorIndex);
|
|
|
|
// create space table
|
|
spaceTable = sensorInt.pointCloudResolution == DepthSensorBase.PointCloudResolution.DepthCameraResolution ?
|
|
sensorInt.GetDepthCameraSpaceTable(sensorData) : sensorInt.GetColorCameraSpaceTable(sensorData);
|
|
|
|
// init mesh uv array
|
|
//spaceTable = new Vector3[pointCount];
|
|
Vector2[] meshUv = new Vector2[pointCount];
|
|
|
|
for (int y = 0, i = 0; y < imageHeight; y++)
|
|
{
|
|
for (int x = 0; x < imageWidth; x++, i++)
|
|
{
|
|
Vector2 imagePos = new Vector2(x, y);
|
|
|
|
//spaceTable[i] = sensorInt.MapDepthPointToSpaceCoords(sensorData, imagePos, 1000);
|
|
meshUv[i] = new Vector2(imagePos.x / imageWidth, imagePos.y / imageHeight);
|
|
}
|
|
}
|
|
|
|
mesh.vertices = meshVertices;
|
|
mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0);
|
|
mesh.uv = meshUv;
|
|
|
|
if (showAsPointCloud)
|
|
{
|
|
meshIndices = new int[pointCount];
|
|
for (int i = 0; i < pointCount; i++)
|
|
meshIndices[i] = i;
|
|
mesh.SetIndices(meshIndices, MeshTopology.Points, 0);
|
|
}
|
|
|
|
bMeshInited = true;
|
|
}
|
|
}
|
|
|
|
|
|
// releases mesh-related resources
|
|
private void FinishMesh()
|
|
{
|
|
if (sensorInt)
|
|
{
|
|
sensorInt.pointCloudColorTexture = null;
|
|
}
|
|
|
|
if (colorTexture && colorTextureCreated)
|
|
{
|
|
colorTexture.Release();
|
|
colorTexture = null;
|
|
}
|
|
|
|
if (colorTextureCopy)
|
|
{
|
|
colorTextureCopy.Release();
|
|
colorTextureCopy = null;
|
|
}
|
|
|
|
spaceTable = null;
|
|
meshVertices = null;
|
|
meshIndices = null;
|
|
meshVertUsed = null;
|
|
|
|
bMeshInited = false;
|
|
}
|
|
|
|
|
|
// updates the mesh according to current depth frame
|
|
private void UpdateMesh()
|
|
{
|
|
if (bMeshInited && sensorData.depthImage != null && lastSpaceCoordsTime != sensorData.lastDepthFrameTime)
|
|
{
|
|
if ((Time.time - lastMeshUpdateTime) >= updateMeshInterval)
|
|
{
|
|
lastSpaceCoordsTime = sensorData.lastDepthFrameTime;
|
|
lastMeshUpdateTime = Time.time;
|
|
|
|
int imageWidth1 = imageWidth - 1, imageHeight1 = imageHeight - 1;
|
|
int userPosDepth = (int)(userBodyPos.z * 1000f);
|
|
|
|
const int maxDistMm = 200; // max distance between vertices in a triangle, in mm
|
|
const int maxPosDistMm = 1000;
|
|
|
|
// copy the texture
|
|
Graphics.CopyTexture(colorTexture, colorTextureCopy);
|
|
|
|
for (int y = 0, di = 0, ti = 0; y < imageHeight; y++)
|
|
{
|
|
for (int x = 0; x < imageWidth; x++, di++, ti += 6)
|
|
{
|
|
ushort depth = sensorData.depthImage[di];
|
|
bool isValidBodyPixel = userId != 0 && sensorData.bodyIndexImage[di] == userBodyIndex &&
|
|
Mathf.Abs(depth - userPosDepth) <= maxPosDistMm;
|
|
|
|
bool bVertexSet = false;
|
|
if (isValidBodyPixel)
|
|
{
|
|
float fDepth = (float)depth * 0.001f;
|
|
Vector3 vVertex = new Vector3(spaceTable[di].x * fDepth * spaceScale.x, spaceTable[di].y * fDepth * spaceScale.y, fDepth);
|
|
|
|
bool bUsedVertex = !showAsPointCloud && meshVertUsed[di] != 0;
|
|
if (bUsedVertex || isValidBodyPixel)
|
|
{
|
|
meshVertices[di] = vVertex;
|
|
|
|
if (!showAsPointCloud)
|
|
{
|
|
meshVertUsed[di] = 1;
|
|
|
|
if (isValidBodyPixel && x < imageWidth1 && y < imageHeight1)
|
|
{
|
|
int tl = di; ushort tld = depth;
|
|
int tr = tl + 1; ushort trd = sensorData.depthImage[tr];
|
|
int bl = tl + imageWidth; ushort bld = sensorData.depthImage[bl];
|
|
int br = bl + 1; ushort brd = sensorData.depthImage[br];
|
|
|
|
//float fBrDepth = (float)brd * 0.001f;
|
|
//Vector3 vVertex2 = new Vector3(spaceTable[br].x * fBrDepth * spaceScale.x, spaceTable[di].y * fBrDepth * spaceScale.y, fBrDepth);
|
|
|
|
// 1st triangle
|
|
bool isValidBodyQuad =
|
|
sensorData.bodyIndexImage[tr] == userBodyIndex && Mathf.Abs(trd - userPosDepth) <= maxPosDistMm &&
|
|
sensorData.bodyIndexImage[bl] == userBodyIndex && Mathf.Abs(bld - userPosDepth) <= maxPosDistMm &&
|
|
sensorData.bodyIndexImage[br] == userBodyIndex && Mathf.Abs(brd - userPosDepth) <= maxPosDistMm;
|
|
|
|
if (isValidBodyQuad &&
|
|
Mathf.Abs(trd - tld) < maxDistMm && Mathf.Abs(bld - tld) < maxDistMm)
|
|
{
|
|
meshIndices[ti] = bl;
|
|
meshIndices[ti + 1] = tr;
|
|
meshIndices[ti + 2] = tl;
|
|
meshVertUsed[trd] = meshVertUsed[bld] = 1;
|
|
}
|
|
else
|
|
{
|
|
meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0;
|
|
meshVertUsed[trd] = meshVertUsed[bld] = 0;
|
|
}
|
|
|
|
// 2nd triangle
|
|
if (isValidBodyQuad &&
|
|
Mathf.Abs(trd - bld) < maxDistMm && Mathf.Abs(brd - bld) < maxDistMm)
|
|
{
|
|
meshIndices[ti + 3] = br;
|
|
meshIndices[ti + 4] = tr;
|
|
meshIndices[ti + 5] = bl;
|
|
meshVertUsed[bld] = meshVertUsed[trd] = meshVertUsed[brd] = 1;
|
|
}
|
|
else
|
|
{
|
|
meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0;
|
|
meshVertUsed[bld] = meshVertUsed[trd] = meshVertUsed[brd] = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0;
|
|
meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0;
|
|
}
|
|
}
|
|
|
|
bVertexSet = true;
|
|
}
|
|
}
|
|
|
|
if (!bVertexSet)
|
|
{
|
|
meshVertices[di] = Vector3.zero;
|
|
|
|
if (!showAsPointCloud)
|
|
{
|
|
if (meshVertUsed[di] != 0)
|
|
{
|
|
float fDepth = (float)depth * 0.001f;
|
|
Vector3 vVertex = new Vector3(spaceTable[di].x * fDepth * spaceScale.x, spaceTable[di].y * fDepth * spaceScale.y, fDepth);
|
|
meshVertices[di] = vVertex;
|
|
}
|
|
|
|
meshIndices[ti] = meshIndices[ti + 1] = meshIndices[ti + 2] = 0;
|
|
meshIndices[ti + 3] = meshIndices[ti + 4] = meshIndices[ti + 5] = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
mesh.vertices = meshVertices;
|
|
|
|
if (!showAsPointCloud)
|
|
{
|
|
mesh.SetIndices(meshIndices, MeshTopology.Triangles, 0);
|
|
}
|
|
|
|
mesh.RecalculateBounds();
|
|
//prevUserId = userId;
|
|
|
|
if (updateColliderInterval > 0 && (Time.time - lastColliderUpdateTime) >= updateColliderInterval)
|
|
{
|
|
lastColliderUpdateTime = Time.time;
|
|
MeshCollider meshCollider = GetComponent<MeshCollider>();
|
|
|
|
if (meshCollider)
|
|
{
|
|
meshCollider.sharedMesh = null;
|
|
meshCollider.sharedMesh = mesh;
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|