├── .gitignore ├── Assets ├── SampleCamera.renderTexture ├── SampleCamera.renderTexture.meta ├── Scenes.meta ├── Scenes │ ├── SampleScene.unity │ └── SampleScene.unity.meta ├── com.bonjour-lab.monoculardepth.meta └── com.bonjour-lab.monoculardepth │ ├── LICENSE │ ├── LICENSE.meta │ ├── ONNX.meta │ ├── ONNX │ ├── fastdepth_7.onnx │ └── fastdepth_7.onnx.meta │ ├── README.md │ ├── README.md.meta │ ├── Runtime.meta │ ├── Runtime │ ├── DepthSensor.Runtime.asmdef │ ├── DepthSensor.Runtime.asmdef.meta │ ├── DepthSensor.cs │ ├── DepthSensor.cs.meta │ ├── DepthViewer.shader │ └── DepthViewer.shader.meta │ ├── Textures.meta │ ├── Textures │ ├── Utils.meta │ └── Utils │ │ ├── DepthRamp_00.png │ │ ├── DepthRamp_00.png.meta │ │ ├── DepthRamp_01.png │ │ └── DepthRamp_01.png.meta │ ├── package.json │ └── package.json.meta ├── LICENSE ├── Packages ├── manifest.json └── packages-lock.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── PackageManagerSettings.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset ├── VersionControlSettings.asset └── XRSettings.asset ├── README.md └── UserSettings └── EditorUserSettings.asset /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Mm]emoryCaptures/ 12 | 13 | # Asset meta data should only be ignored when the corresponding asset is also ignored 14 | !/[Aa]ssets/**/*.meta 15 | 16 | # Uncomment this line if you wish to ignore the asset store tools plugin 17 | # /[Aa]ssets/AssetStoreTools* 18 | 19 | # Autogenerated Jetbrains Rider plugin 20 | [Aa]ssets/Plugins/Editor/JetBrains* 21 | 22 | # Visual Studio cache directory 23 | .vs/ 24 | .vscode/ 25 | 26 | # Gradle cache directory 27 | .gradle/ 28 | 29 | # Autogenerated VS/MD/Consulo solution and project files 30 | ExportedObj/ 31 | .consulo/ 32 | *.csproj 33 | *.unityproj 34 | *.sln 35 | *.suo 36 | *.tmp 37 | *.user 38 | *.userprefs 39 | *.pidb 40 | *.booproj 41 | *.svd 42 | *.pdb 43 | *.mdb 44 | *.opendb 45 | *.VC.db 46 | 47 | # Unity3D generated meta files 48 | *.pidb.meta 49 | *.pdb.meta 50 | *.mdb.meta 51 | 52 | # Unity3D generated file on crash reports 53 | sysinfo.txt 54 | 55 | # Builds 56 | *.apk 57 | *.unitypackage 58 | 59 | # Crashlytics generated file 60 | crashlytics-build.properties 61 | 62 | -------------------------------------------------------------------------------- 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574 | m_PVREnvironmentSampleCount: 500 575 | m_PVREnvironmentReferencePointCount: 2048 576 | m_LightProbeSampleCountMultiplier: 4 577 | m_PVRBounces: 2 578 | m_PVRMinBounces: 2 579 | m_PVREnvironmentMIS: 0 580 | m_PVRFilteringMode: 2 581 | m_PVRDenoiserTypeDirect: 0 582 | m_PVRDenoiserTypeIndirect: 0 583 | m_PVRDenoiserTypeAO: 0 584 | m_PVRFilterTypeDirect: 0 585 | m_PVRFilterTypeIndirect: 0 586 | m_PVRFilterTypeAO: 0 587 | m_PVRFilteringGaussRadiusDirect: 1 588 | m_PVRFilteringGaussRadiusIndirect: 5 589 | m_PVRFilteringGaussRadiusAO: 2 590 | m_PVRFilteringAtrousPositionSigmaDirect: 0.5 591 | m_PVRFilteringAtrousPositionSigmaIndirect: 2 592 | m_PVRFilteringAtrousPositionSigmaAO: 1 593 | -------------------------------------------------------------------------------- /Assets/Scenes/SampleScene.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9fc0d4010bbf28b4594072e72b8655ab 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: d7af4e3a89c6183438988eab4d6595aa 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2021 Bonjour lab 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/LICENSE.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7a5fb4b234cc6364ca57273b232be303 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/ONNX.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a847b9ecf1bb278499db35c2520fff0b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/ONNX/fastdepth_7.onnx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Bonjour-Interactive-Lab/Unity3D-MonocularDepthEstimation/091e8b2f6e38fee58af7ded152fb97c2e8d851b4/Assets/com.bonjour-lab.monoculardepth/ONNX/fastdepth_7.onnx -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/ONNX/fastdepth_7.onnx.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c7e61a0a1d76c964abe891e50d7841c5 3 | ScriptedImporter: 4 | internalIDToNameTable: [] 5 | externalObjects: {} 6 | serializedVersion: 2 7 | userData: 8 | assetBundleName: 9 | assetBundleVariant: 10 | script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3} 11 | optimizeModel: 1 12 | forceArbitraryBatchSize: 1 13 | treatErrorsAsWarnings: 0 14 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/README.md: -------------------------------------------------------------------------------- 1 | # Unity3D-MonocularDepthEstimation 2 | ![gif](https://i.imgur.com/T04Wrng.gif) 3 | 4 | Unity3D Monocular depth estimation using Barracuda 5 | based on: https://medium.com/xrpractices/monocular-depth-sensing-point-cloud-from-webcam-feed-using-unity-barracuda-d9f1496b5932 6 | 7 | ### DephSensor.cs 8 | This script computes depth estimation on RenderTexture source image. 9 | Please note the model return a depth image at 224×244 RFloat. 10 | You can grab the RenderTexture containing the Depth value from script by calling ```DephSensor.GetRawOutput()``` 11 | 12 | ### Install Package 13 | This package uses the scoped registry feature to import dependent packages. 14 | Please add the following sections to the package manifest file (Packages/manifest.json). 15 | 16 | To the scopedRegistries section: 17 | ``` 18 | { 19 | "name": "Bonjour-lab", 20 | "url": "https://registry.npmjs.com", 21 | "scopes": [ 22 | "com.bonjour-lab" 23 | ] 24 | } 25 | ``` 26 | 27 | To the dependencies section: 28 | 29 | ``` 30 | "com.bonjour-lab.monoculardepth": "1.0.6-preview", 31 | ``` 32 | 33 | After changes, the manifest file should look like below: 34 | ``` 35 | { 36 | "scopedRegistries": [ 37 | { 38 | "name": "Bonjour-lab", 39 | "url": "https://registry.npmjs.com", 40 | "scopes": [ 41 | "com.bonjour-lab" 42 | ] 43 | } 44 | ], 45 | "dependencies": { 46 | "com.bonjour-lab.monoculardepth": "1.0.6-preview", 47 | ... 48 | ``` 49 | 50 | 51 | Tested on 52 | ------- 53 | * Unity 2020 & 2019 54 | 55 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/README.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 64b76a2adcf2c874c90f9f12cd4b134d 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Runtime.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9a23e032bcc276b49bfa07e27e08a366 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Runtime/DepthSensor.Runtime.asmdef: -------------------------------------------------------------------------------- 1 | { 2 | "name": "DepthSensor", 3 | "rootNamespace": "", 4 | "references": [ 5 | "GUID:5c2b5ba89f9e74e418232e154bc5cc7a" 6 | ], 7 | "includePlatforms": [], 8 | "excludePlatforms": [], 9 | "allowUnsafeCode": false, 10 | "overrideReferences": false, 11 | "precompiledReferences": [], 12 | "autoReferenced": true, 13 | "defineConstraints": [], 14 | "versionDefines": [], 15 | "noEngineReferences": false 16 | } -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Runtime/DepthSensor.Runtime.asmdef.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c2d4cf2c8d00bf241a2c89bdc61385b5 3 | AssemblyDefinitionImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Runtime/DepthSensor.cs: -------------------------------------------------------------------------------- 1 | using System.Linq; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEngine; 5 | using Unity.Barracuda; 6 | using UnityEngine.UI; 7 | using UnityEngine.Profiling; 8 | 9 | //! Need some retakes on the following parts : 10 | // todo: clean up code 11 | // todo: use compute Buffer w/ compute shader to rewrite the input texture (and get rig of the SetPixel) 12 | //based on: https://medium.com/xrpractices/monocular-depth-sensing-point-cloud-from-webcam-feed-using-unity-barracuda-d9f1496b5932 13 | //https://github.com/nianticlabs/monodepth2 14 | //other: https://github.com/ialhashim/DenseDepth 15 | //Fast depth info : http://fastdepth.mit.edu/ 16 | namespace Bonjour.AIModel 17 | { 18 | public class DepthSensor : MonoBehaviour 19 | { 20 | [Header("Monocular Depth params")] 21 | [SerializeField] [Tooltip("Define the model to use")] private NNModel monoDepthONNX; 22 | [SerializeField] [Tooltip("Define the source to analyze")] private RenderTexture source; 23 | 24 | //Barracuda 25 | private Model runtimeModel; 26 | private IWorker worker; 27 | 28 | private int modelwidth = 224; 29 | private int modelheight = 224; 30 | 31 | private Texture2D rawInput; 32 | 33 | [SerializeField] 34 | private RenderTexture rawOutput; 35 | private RenderTexture debugOutput; 36 | private Material depthViewer; 37 | 38 | [Header("Debug params")] 39 | public bool showDebug = true; 40 | public float debugScale = 2; 41 | [Range(0f, 8f)] 42 | [Tooltip("Define the min depth to display")] public float minDist = 0.0f; 43 | [Range(0f, 8f)] 44 | [Tooltip("Define the max depth to display")] public float maxDist = 4.0f; 45 | 46 | 47 | private void Start(){ 48 | InitDepthModel(); 49 | InitBuffers(); 50 | } 51 | 52 | private void InitDepthModel(){ 53 | runtimeModel = ModelLoader.Load(monoDepthONNX); 54 | worker = WorkerFactory.CreateWorker(WorkerFactory.Type.ComputePrecompiled, runtimeModel); 55 | } 56 | 57 | private void InitBuffers(){ 58 | rawInput = new Texture2D(modelwidth, modelheight, TextureFormat.RGB24, false); 59 | rawOutput = new RenderTexture(modelwidth, modelheight, 0, RenderTextureFormat.RFloat); 60 | rawOutput.enableRandomWrite = true; 61 | rawOutput.name = "rawOutput"; 62 | rawOutput.Create(); 63 | 64 | debugOutput = new RenderTexture(modelwidth, modelheight, 0, RenderTextureFormat.ARGBFloat); 65 | debugOutput.enableRandomWrite = true; 66 | debugOutput.Create(); 67 | 68 | depthViewer = new Material(Shader.Find("Hidden/DepthViewer")); 69 | } 70 | 71 | private void Update(){ 72 | // Profiler.BeginSample("ResizeSourceToModel"); 73 | ResizeSourceToModel(); 74 | // Profiler.EndSample(); 75 | 76 | // Profiler.BeginSample("Tensor + Inference"); 77 | //Set tensor with input 78 | var tensor = new Tensor(rawInput, 3); 79 | //inference + grab resultws 80 | var executer = worker.Execute(tensor).PeekOutput(); 81 | // Profiler.EndSample(); 82 | 83 | // Profiler.BeginSample("Tensor to RT"); 84 | //Grab and set results to Temporary RT. 85 | //Note: FastDepth model return a 1 channel result with a range over 1.0 (0.0 to X) 86 | executer.ToRenderTexture(rawOutput); 87 | // Profiler.EndSample(); 88 | 89 | if(showDebug){ 90 | // Profiler.BeginSample("Depth viewer"); 91 | depthViewer.SetFloat("_MinDepth", minDist); 92 | depthViewer.SetFloat("_MaxDepth", maxDist); 93 | Graphics.Blit(rawOutput, debugOutput, depthViewer); 94 | // Profiler.EndSample(); 95 | } 96 | 97 | // Profiler.BeginSample("Dispose Tensor + Release Temp RT"); 98 | tensor?.Dispose(); 99 | tensor = null; 100 | // Profiler.EndSample(); 101 | } 102 | 103 | private void ResizeSourceToModel(){ 104 | float aspect = (float) source.width / (float) source.height; 105 | int width = Mathf.FloorToInt(rawInput.height * aspect); 106 | RenderTexture temp = RenderTexture.GetTemporary(rawInput.width, rawInput.height, 0, source.format); 107 | 108 | if(source.width >= source.height) Graphics.Blit(source, temp, new Vector2(1, aspect), new Vector2(0, (1-aspect) * .5f)); 109 | else Graphics.Blit(source, temp, new Vector2(1+aspect, 1), new Vector2((1-aspect) * -.5f, 0)); 110 | 111 | RenderTexture.active = temp; 112 | rawInput.ReadPixels(new Rect(0, 0, rawInput.width, rawInput.height), 0, 0); 113 | rawInput.Apply(); 114 | RenderTexture.ReleaseTemporary(temp); 115 | } 116 | 117 | private void OnDisable(){ 118 | worker?.Dispose(); 119 | worker = null; 120 | } 121 | 122 | private void OnGUI() { 123 | if(rawInput != null && source != null && showDebug){ 124 | 125 | int w = Mathf.RoundToInt(rawInput.width * debugScale); 126 | int h = Mathf.RoundToInt(rawInput.height * debugScale); 127 | 128 | GUI.DrawTexture(new Rect(0, Screen.height - h, w, h), rawInput); 129 | GUI.DrawTexture(new Rect(w * 1, Screen.height - h, w, h), debugOutput); 130 | } 131 | } 132 | 133 | public RenderTexture GetRawOutput(){ 134 | return rawOutput; 135 | } 136 | } 137 | 138 | } 139 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Runtime/DepthSensor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4cbe43eed392fdd419c7cd6512ea6a77 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: 7 | - monoDepthONNX: {fileID: 5022602860645237092, guid: c7e61a0a1d76c964abe891e50d7841c5, 8 | type: 3} 9 | - source: {fileID: 8400000, guid: 63b85b8b6b37bc24894bc8ae88daa1dc, type: 2} 10 | - output: {fileID: 8400000, guid: bed31290dccea51429f4fa3ee3455083, type: 2} 11 | executionOrder: 0 12 | icon: {instanceID: 0} 13 | userData: 14 | assetBundleName: 15 | assetBundleVariant: 16 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Runtime/DepthViewer.shader: -------------------------------------------------------------------------------- 1 | Shader "Hidden/DepthViewer" 2 | { 3 | Properties 4 | { 5 | _MainTex ("Texture", 2D) = "white" {} 6 | _MinDepth("Min Depth", Float) = 0.25 7 | _MaxDepth("Max Depth", Float) = 4.0 8 | _Ramp("Ramp", 2D) = "white" {} 9 | } 10 | SubShader 11 | { 12 | // No culling or depth 13 | Cull Off ZWrite Off ZTest Always 14 | 15 | Pass 16 | { 17 | CGPROGRAM 18 | #pragma vertex vert 19 | #pragma fragment frag 20 | 21 | #include "UnityCG.cginc" 22 | 23 | struct appdata 24 | { 25 | float4 vertex : POSITION; 26 | float2 uv : TEXCOORD0; 27 | }; 28 | 29 | struct v2f 30 | { 31 | float2 uv : TEXCOORD0; 32 | float4 vertex : SV_POSITION; 33 | }; 34 | 35 | v2f vert (appdata v) 36 | { 37 | v2f o; 38 | o.vertex = UnityObjectToClipPos(v.vertex); 39 | o.uv = v.uv; 40 | return o; 41 | } 42 | 43 | sampler2D _MainTex; 44 | sampler2D _Ramp; 45 | float _MinDepth; 46 | float _MaxDepth; 47 | 48 | float4 frag (v2f i) : SV_Target 49 | { 50 | float depth = tex2D(_MainTex, i.uv).r; 51 | // depth = clamp(depth, _MinDepth, _MaxDepth); 52 | float normDepth = (depth - _MinDepth) / (_MaxDepth - _MinDepth); 53 | normDepth = saturate(normDepth); 54 | 55 | float3 color = tex2D(_Ramp, float2(normDepth, 0.5)).rgb; 56 | return float4(color, 1); 57 | } 58 | ENDCG 59 | } 60 | } 61 | } 62 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Runtime/DepthViewer.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e41f4e6e2fdedcb42abe3ab04f623958 3 | ShaderImporter: 4 | externalObjects: {} 5 | defaultTextures: 6 | - _MainTex: {instanceID: 0} 7 | - _Ramp: {fileID: 2800000, guid: 85a2848fb61462f469b924a391a8a53c, type: 3} 8 | nonModifiableTextures: [] 9 | preprocessorOverride: 0 10 | userData: 11 | assetBundleName: 12 | assetBundleVariant: 13 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Textures.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 83839bacf4e225542a37405f15d2bc6c 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Textures/Utils.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 97a5a73bf9682c643ae7c562b29fa2bd 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Textures/Utils/DepthRamp_00.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Bonjour-Interactive-Lab/Unity3D-MonocularDepthEstimation/091e8b2f6e38fee58af7ded152fb97c2e8d851b4/Assets/com.bonjour-lab.monoculardepth/Textures/Utils/DepthRamp_00.png -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/Textures/Utils/DepthRamp_00.png.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 42630e93a92837f4c9618e07b6e65ce8 3 | TextureImporter: 4 | internalIDToNameTable: [] 5 | externalObjects: {} 6 | serializedVersion: 11 7 | mipmaps: 8 | mipMapMode: 0 9 | enableMipMap: 1 10 | sRGBTexture: 1 11 | linearTexture: 0 12 | fadeOut: 0 13 | borderMipMap: 0 14 | mipMapsPreserveCoverage: 0 15 | alphaTestReferenceValue: 0.5 16 | mipMapFadeDistanceStart: 1 17 | mipMapFadeDistanceEnd: 3 18 | bumpmap: 19 | convertToNormalMap: 0 20 | externalNormalMap: 0 21 | heightScale: 0.25 22 | normalMapFilter: 0 23 | isReadable: 0 24 | streamingMipmaps: 0 25 | streamingMipmapsPriority: 0 26 | vTOnly: 0 27 | grayScaleToAlpha: 0 28 | generateCubemap: 6 29 | cubemapConvolution: 0 30 | seamlessCubemap: 0 31 | textureFormat: 1 32 | maxTextureSize: 2048 33 | textureSettings: 34 | serializedVersion: 2 35 | filterMode: 1 36 | aniso: 1 37 | mipBias: 0 38 | wrapU: 0 39 | wrapV: 0 40 | wrapW: 0 41 | nPOTScale: 1 42 | lightmap: 0 43 | compressionQuality: 50 44 | spriteMode: 0 45 | spriteExtrude: 1 46 | spriteMeshType: 1 47 | alignment: 0 48 | spritePivot: {x: 0.5, y: 0.5} 49 | spritePixelsToUnits: 100 50 | spriteBorder: {x: 0, y: 0, z: 0, w: 0} 51 | spriteGenerateFallbackPhysicsShape: 1 52 | alphaUsage: 1 53 | alphaIsTransparency: 0 54 | spriteTessellationDetail: -1 55 | textureType: 0 56 | textureShape: 1 57 | singleChannelComponent: 0 58 | flipbookRows: 1 59 | flipbookColumns: 1 60 | maxTextureSizeSet: 0 61 | compressionQualitySet: 0 62 | textureFormatSet: 0 63 | ignorePngGamma: 0 64 | applyGammaDecoding: 0 65 | platformSettings: 66 | - 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Barracuda Monocular Depth Estimation", 4 | "version": "1.0.6-preview", 5 | "unity": "2019.3", 6 | "description": "Monocular depth estimation using Barracuda", 7 | "keywords": [ 8 | "camera", 9 | "opticalFlow", 10 | "utility", 11 | "unity", 12 | "bonjourlab" 13 | ], 14 | "homepage": "https://www.bonjour-lab.com/", 15 | "bugs": { 16 | "url": "https://github.com/Bonjour-Interactive-Lab/Unity3D-MonocularDepthEstimationw/issues" 17 | }, 18 | "repository": { 19 | "type": "git", 20 | "url": "https://github.com/Bonjour-Interactive-Lab/Unity3D-MonocularDepthEstimation.git" 21 | }, 22 | "license": "MIT", 23 | "author": { 24 | "name": "bonjour lab", 25 | "email": "alex@bonjour-lab.com", 26 | "url": "https://www.bonjour-lab.com/" 27 | }, 28 | "dependencies": { 29 | "com.bonjour-lab.uvccamera": "1.0.3", 30 | "com.unity.barracuda": "1.0.4" 31 | } 32 | } 33 | -------------------------------------------------------------------------------- /Assets/com.bonjour-lab.monoculardepth/package.json.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5eeb063206f7b2446a774ede73738ce3 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2021 Bonjour lab 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 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inProgressEnabled: 1 9 | -------------------------------------------------------------------------------- /ProjectSettings/XRSettings.asset: -------------------------------------------------------------------------------- 1 | { 2 | "m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Unity3D-MonocularDepthEstimation 2 | ![gif](https://i.imgur.com/T04Wrng.gif) 3 | 4 | Unity3D Monocular depth estimation using Barracuda 5 | based on: https://medium.com/xrpractices/monocular-depth-sensing-point-cloud-from-webcam-feed-using-unity-barracuda-d9f1496b5932 6 | 7 | ### DephSensor.cs 8 | This script computes depth estimation on RenderTexture source image. 9 | Please note the model return a depth image at 224×244 RFloat. 10 | You can grab the RenderTexture containing the Depth value from script by calling ```DephSensor.GetRawOutput()``` 11 | 12 | ### Install Package 13 | This package uses the scoped registry feature to import dependent packages. 14 | Please add the following sections to the package manifest file (Packages/manifest.json). 15 | 16 | To the scopedRegistries section: 17 | ``` 18 | { 19 | "name": "Bonjour-lab", 20 | "url": "https://registry.npmjs.com", 21 | "scopes": [ 22 | "com.bonjour-lab" 23 | ] 24 | } 25 | ``` 26 | 27 | To the dependencies section: 28 | 29 | ``` 30 | "com.bonjour-lab.monoculardepth": "1.0.6-preview", 31 | ``` 32 | 33 | After changes, the manifest file should look like below: 34 | ``` 35 | { 36 | "scopedRegistries": [ 37 | { 38 | "name": "Bonjour-lab", 39 | "url": "https://registry.npmjs.com", 40 | "scopes": [ 41 | "com.bonjour-lab" 42 | ] 43 | } 44 | ], 45 | "dependencies": { 46 | "com.bonjour-lab.monoculardepth": "1.0.6-preview", 47 | ... 48 | ``` 49 | 50 | 51 | Tested on 52 | 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