Unity AzureKinect 深度图校正

 

using com.rfilkov.kinect;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
using Windows.Kinect;
using static com.rfilkov.kinect.KinectInterop;
using static UnityEditor.Experimental.GraphView.GraphView;

public class GetDepthTex : MonoBehaviour
{
    KinectManager kinectManager;
    RawImage rawimage;
    ushort[] ushorts;
    Texture2D infraredTexture;
    private KinectInterop.SensorData sensorData = null;
    private ushort[] tDepthImage = null;
    ulong frameTime = 0;
    ulong lastUsedFrameTime = 0;
    // Start is called before the first frame update
    void Start()
    {
        kinectManager = KinectManager.Instance;
        rawimage = GetComponent<RawImage>();
        //ushorts = kinectManager.GetRawDepthMap(0);
        sensorData = (kinectManager != null && kinectManager.IsInitialized()) ?
            kinectManager.GetSensorData(0) : null;
        sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, true);
        tDepthImage = new ushort[1920 * 1080];
        print("sensorData.depthImageWidth: " + sensorData.depthImageWidth);
        infraredTexture = new Texture2D(1920, 1080, TextureFormat.RGBA32, false);

    }

    // Update is called once per frame
    void Update()
    {

        //ushort[] transformedDepthFrame = sensorData.sensorInterface.GetColorCameraDepthFrame(sensorData, ref tDepthImage, ref frameTime);
        //if (transformedDepthFrame != null && frameTime != lastUsedFrameTime)
        //{
        //    lastUsedFrameTime = frameTime;
        //    // do something with the transformed depth frame
        //    //ushort[] yourData = sensorData.sensorInterface.GetColorCameraDepthFrame(sensorData, ref tDepthImage, ref frameTime);// wherever you get this from;
        //    byte[] byteData = new byte[sizeof(ushort) * transformedDepthFrame.Length];

        //    // On memory level copy the bytes from yourData into byteData
        //    Buffer.BlockCopy(transformedDepthFrame, 0, byteData, 0, byteData.Length);

        //    infraredTexture = new Texture2D(1920, 1080, TextureFormat.R16, false);
        //    infraredTexture.LoadRawTextureData(byteData);
        //    infraredTexture.Apply();
        //    rawimage.texture = infraredTexture;
        //}

        if (kinectManager)
        {
            //rawimage.texture = kinectManager.GetDepthImageTex(0);
            //rawimage.texture = kinectManager.GetColorImageTex(0);
            ushort[] yourData = sensorData.sensorInterface.GetColorCameraDepthFrame(sensorData, ref tDepthImage, ref frameTime);// wherever you get this from;
            var pixels = new Color[yourData.Length];
            print(yourData.Length);
            for (var i = 0; i < pixels.Length; i++)
            {
                // Map the 16-bit ushort value (0 to 65535) into a normal 8-bit float value (0 to 1)
                var scale = (float)yourData[i] / ushort.MaxValue;
                // Then simply use that scale value for all three channels R,G and B
                // => grey scaled pixel colors
                float alpha = scale>0 ? 1 : 0;
                var pixel = new Color(0, 0, 0, alpha);
                pixels[i] = pixel;
            }


            //Then rather use SetPixels to apply all these pixel colors to your texture
            infraredTexture.SetPixels(pixels);
            infraredTexture.alphaIsTransparency = true;
            infraredTexture.Apply();

            rawimage.texture = infraredTexture;


        }
    }
}