├── Assets ├── DepthCam.meta ├── DepthCam │ ├── DepthCam.cs │ ├── DepthCam.cs.meta │ ├── RenderTexture84x84.renderTexture │ ├── RenderTexture84x84.renderTexture.meta │ ├── Shader.meta │ └── Shader │ │ ├── Common.cginc │ │ ├── Common.cginc.meta │ │ ├── DepthCam.shader │ │ ├── DepthCam.shader.meta │ │ ├── DepthToRGB.cginc │ │ └── DepthToRGB.cginc.meta ├── Scene.unity └── Scene.unity.meta ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset └── XRSettings.asset ├── README.md └── images ├── dc1.png ├── dc2.png ├── dc3.png ├── dc4.png └── dc5.png /Assets/DepthCam.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5d42845118b0cb445baa71a4a03c3d4b 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/DepthCam/DepthCam.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | [ExecuteInEditMode, RequireComponent(typeof(Camera))] 4 | public class DepthCam : MonoBehaviour 5 | { 6 | [SerializeField] 7 | private Color background = Color.black; 8 | 9 | private enum ChannelState 10 | { 11 | depth = 0, 12 | invertedDepth = 1, 13 | sourceImage = 2, 14 | disabled = 3 15 | } 16 | 17 | [SerializeField] 18 | private ChannelState redChannel; 19 | [SerializeField, Range(0f, 0.99f), Tooltip("Clamp minimum distance")] 20 | private float rMin = 0f; 21 | [SerializeField, Range(0.01f, 1f), Tooltip("Clamp maximum distance")] 22 | private float rMax = 1f; 23 | 24 | [SerializeField] 25 | private ChannelState greenChannel; 26 | [SerializeField, Range(0f, 0.99f), Tooltip("Clamp minimum distance")] 27 | private float gMin = 0f; 28 | [SerializeField, Range(0.01f, 1f), Tooltip("Clamp maximum distance")] 29 | private float gMax = 1f; 30 | 31 | [SerializeField] 32 | private ChannelState blueChannel; 33 | [SerializeField, Range(0f, 0.99f), Tooltip("Clamp minimum distance")] 34 | private float bMin = 0f; 35 | [SerializeField, Range(0.01f, 1f), Tooltip("Clamp maximum distance")] 36 | private float bMax = 1f; 37 | 38 | [Header("Debug Draw")] 39 | [SerializeField, Range(0, 4), Tooltip("0 disables GUI")] 40 | private int GUIMagnification = 0; 41 | [SerializeField] 42 | private Vector2Int GUIPosition = new Vector2Int(0, 0); 43 | private bool drawGUI; 44 | private Rect guiRect; 45 | 46 | [Space, SerializeField] 47 | private RenderTexture renderTexture; 48 | [SerializeField] Shader shader; 49 | private Material material; 50 | 51 | private void ApplySettings() 52 | { 53 | drawGUI = GUIMagnification > 0; 54 | if (drawGUI) 55 | { 56 | int w = renderTexture.width; 57 | int h = renderTexture.height; 58 | int m = GUIMagnification; 59 | guiRect = new Rect(GUIPosition.x * w * m, GUIPosition.y * h * m, w * m, h * m); 60 | } 61 | 62 | if (material == null) 63 | { 64 | material = new Material(shader); 65 | material.hideFlags = HideFlags.DontSave; 66 | } 67 | 68 | Camera cam = GetComponent(); 69 | cam.depthTextureMode = DepthTextureMode.Depth; 70 | cam.targetTexture = renderTexture; 71 | 72 | material.SetColor("_Color", background); 73 | material.SetInt("_R_State", (int)redChannel); 74 | material.SetFloat("_R_Min", rMin); 75 | material.SetFloat("_R_Max", rMax); 76 | material.SetInt("_G_State", (int)greenChannel); 77 | material.SetFloat("_G_Min", gMin); 78 | material.SetFloat("_G_Max", gMax); 79 | material.SetInt("_B_State", (int)blueChannel); 80 | material.SetFloat("_B_Min", bMin); 81 | material.SetFloat("_B_Max", bMax); 82 | } 83 | 84 | private void Awake() 85 | { 86 | ApplySettings(); 87 | } 88 | 89 | private void OnRenderImage(RenderTexture source, RenderTexture destination) 90 | { 91 | Graphics.Blit(source, destination, material, 0); 92 | } 93 | 94 | private void OnValidate() 95 | { 96 | rMax = Mathf.Max(rMin + 0.01f, rMax); 97 | gMax = Mathf.Max(gMin + 0.01f, gMax); 98 | bMax = Mathf.Max(bMin + 0.01f, bMax); 99 | 100 | ApplySettings(); 101 | } 102 | 103 | private void OnGUI() 104 | { 105 | if (drawGUI) 106 | { 107 | GUI.DrawTexture(guiRect, renderTexture); 108 | } 109 | } 110 | 111 | private void OnDestroy() 112 | { 113 | if (material != null) 114 | { 115 | if (Application.isPlaying) 116 | { 117 | Destroy(material); 118 | } 119 | else 120 | { 121 | DestroyImmediate(material); 122 | } 123 | } 124 | } 125 | } 126 | -------------------------------------------------------------------------------- /Assets/DepthCam/DepthCam.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fc4bbeb4ace79f04ea7c91967554d83f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/DepthCam/RenderTexture84x84.renderTexture: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!84 &8400000 4 | RenderTexture: 5 | m_ObjectHideFlags: 0 6 | m_CorrespondingSourceObject: {fileID: 0} 7 | m_PrefabInstance: {fileID: 0} 8 | m_PrefabAsset: {fileID: 0} 9 | m_Name: RenderTexture84x84 10 | m_ImageContentsHash: 11 | serializedVersion: 2 12 | Hash: 00000000000000000000000000000000 13 | m_ForcedFallbackFormat: 4 14 | m_DownscaleFallback: 0 15 | serializedVersion: 3 16 | m_Width: 84 17 | m_Height: 84 18 | m_AntiAliasing: 1 19 | m_MipCount: -1 20 | m_DepthFormat: 0 21 | m_ColorFormat: 8 22 | m_MipMap: 0 23 | m_GenerateMips: 1 24 | m_SRGB: 0 25 | m_UseDynamicScale: 0 26 | m_BindMS: 0 27 | m_EnableCompatibleFormat: 0 28 | m_TextureSettings: 29 | serializedVersion: 2 30 | m_FilterMode: 0 31 | m_Aniso: 0 32 | m_MipBias: 0 33 | m_WrapU: 0 34 | m_WrapV: 0 35 | m_WrapW: 0 36 | m_Dimension: 2 37 | m_VolumeDepth: 1 38 | -------------------------------------------------------------------------------- /Assets/DepthCam/RenderTexture84x84.renderTexture.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ad905db716d8edf4f86b3f62b66318c4 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 0 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/DepthCam/Shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7cdde70413a834e559cd87d175efa76d 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/DepthCam/Shader/Common.cginc: -------------------------------------------------------------------------------- 1 | // Code adapted from https://github.com/keijiro/KinoVision 2 | 3 | #include "UnityCG.cginc" 4 | 5 | sampler2D _MainTex; 6 | float4 _MainTex_TexelSize; 7 | float4 _MainTex_ST; 8 | 9 | struct CommonAttributes 10 | { 11 | float4 position : POSITION; 12 | float2 uv : TEXCOORD; 13 | }; 14 | 15 | struct CommonVaryings 16 | { 17 | float4 position : SV_POSITION; 18 | half2 uv0 : TEXCOORD0; // Screen space UV (supports stereo rendering) 19 | half2 uv1 : TEXCOORD1; // Alternative UV (supports v-flip case) 20 | }; 21 | 22 | CommonVaryings CommonVertex(CommonAttributes input) 23 | { 24 | float2 uv1 = input.uv; 25 | 26 | #if UNITY_UV_STARTS_AT_TOP 27 | if (_MainTex_TexelSize.y < 0) uv1.y = 1 - uv1.y; 28 | #endif 29 | 30 | CommonVaryings o; 31 | o.position = UnityObjectToClipPos(input.position); 32 | o.uv0 = UnityStereoScreenSpaceUVAdjust(input.uv, _MainTex_ST); 33 | o.uv1 = UnityStereoScreenSpaceUVAdjust(uv1, _MainTex_ST); 34 | return o; 35 | } 36 | -------------------------------------------------------------------------------- /Assets/DepthCam/Shader/Common.cginc.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5b1bf50d0d092ce43bd609638f19aa66 3 | timeCreated: 1472190701 4 | licenseType: Pro 5 | ShaderImporter: 6 | defaultTextures: [] 7 | userData: 8 | assetBundleName: 9 | assetBundleVariant: 10 | -------------------------------------------------------------------------------- /Assets/DepthCam/Shader/DepthCam.shader: -------------------------------------------------------------------------------- 1 | Shader "Custom/DepthCam" 2 | { 3 | Properties 4 | { 5 | _MainTex("", 2D) = ""{} 6 | _Color ("Background", COLOR) = (0,0,0,1) 7 | _R_State("R_State", Int) = 0 8 | _R_Min("R_Min", Float) = 0 9 | _R_Max("R_Max", Float) = 1 10 | _G_State("G_State", Int) = 0 11 | _G_Min("G_Min", Float) = 0 12 | _G_Max("G_Max", Float) = 1 13 | _B_State("B_State", Int) = 0 14 | _B_Min("B_Min", Float) = 0 15 | _B_Max("B_Max", Float) = 1 16 | } 17 | Subshader 18 | { 19 | Pass 20 | { 21 | ZTest Always Cull Off ZWrite Off 22 | CGPROGRAM 23 | #include "DepthToRGB.cginc" 24 | #pragma multi_compile _ UNITY_COLORSPACE_GAMMA 25 | #pragma vertex CommonVertex 26 | #pragma fragment DepthToRGBFragment 27 | #pragma target 3.0 28 | ENDCG 29 | } 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /Assets/DepthCam/Shader/DepthCam.shader.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 753fa4a1e9f7c104fa6f533fa4869b22 3 | ShaderImporter: 4 | externalObjects: {} 5 | defaultTextures: [] 6 | nonModifiableTextures: [] 7 | userData: 8 | assetBundleName: 9 | assetBundleVariant: 10 | -------------------------------------------------------------------------------- /Assets/DepthCam/Shader/DepthToRGB.cginc: -------------------------------------------------------------------------------- 1 | #include "Common.cginc" 2 | 3 | sampler2D_float _CameraDepthTexture; 4 | half4 _Color; 5 | int _R_State; 6 | float _R_Min; 7 | float _R_Max; 8 | int _G_State; 9 | float _G_Min; 10 | float _G_Max; 11 | int _B_State; 12 | float _B_Min; 13 | float _B_Max; 14 | 15 | half4 DepthToRGBFragment(CommonVaryings input) : SV_Target 16 | { 17 | float depth = Linear01Depth(SAMPLE_DEPTH_TEXTURE(_CameraDepthTexture, input.uv1)); 18 | half4 src = tex2D(_MainTex, input.uv0); 19 | 20 | if (_R_State < 2) 21 | { 22 | float d = _R_State == 1 ? 1 - depth : depth; 23 | if (d >= _R_Min && d < _R_Max) 24 | { 25 | _Color.r = 1 - (d - _R_Min) * (1 / (_R_Max - _R_Min)); 26 | _Color.a = 1; 27 | } 28 | } 29 | else if (_R_State == 2) 30 | { 31 | _Color.r = src.r; 32 | } 33 | 34 | if (_G_State < 2) 35 | { 36 | float d = _G_State == 1 ? 1 - depth : depth; 37 | if (d >= _G_Min && d < _G_Max) 38 | { 39 | _Color.g = 1 - (d - _G_Min) * (1 / (_G_Max - _G_Min)); 40 | _Color.a = 1; 41 | } 42 | } 43 | else if (_G_State == 2) 44 | { 45 | _Color.g = src.g; 46 | } 47 | 48 | if (_B_State < 2) 49 | { 50 | float d = _B_State == 1 ? 1 - depth : depth; 51 | if (d >= _B_Min && d < _B_Max) 52 | { 53 | _Color.b = 1 - (d - _B_Min) * (1 / (_B_Max - _B_Min)); 54 | _Color.a = 1; 55 | } 56 | } 57 | else if (_B_State == 2) 58 | { 59 | _Color.b = src.b; 60 | } 61 | 62 | return _Color; 63 | } 64 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## Unity Depth Camera 2 | 3 | Provides a quick and easy way to map [depth texture](https://docs.unity3d.com/Manual/SL-CameraDepthTexture.html) values to RGB channels. I wrote it for feeding depth info to [Unity Machine Learning Agents](https://github.com/Unity-Technologies/ml-agents) as visual observations. 4 | 5 | You can define distance ranges by setting min and max values. Clamped distances are being mapped to the full 8-bit color range. Default depth values are flipped so that close objects are more saturated than farther-away ones. 6 | 7 | ### Example settings 8 | 9 | 10 | 11 | Red channel only.

12 | 13 | 14 | 15 | Green channel only with inverted depth values.

16 | 17 | 18 | 19 | One color channel per distance range, increases the total depth resolution compared to using a single channel.

20 | 21 | 22 | 23 | Blue channel limited to foreground, mixed with source image's red and green channels.

24 | 25 | 26 | 27 | All channels limited to foreground, inverted.

28 | 29 | -------------------------------------------------------------------------------- /images/dc1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dahburj/unity-depth-camera/261b877c8bd28a91e9c35a307ab8266dd0def592/images/dc1.png -------------------------------------------------------------------------------- /images/dc2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dahburj/unity-depth-camera/261b877c8bd28a91e9c35a307ab8266dd0def592/images/dc2.png -------------------------------------------------------------------------------- /images/dc3.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dahburj/unity-depth-camera/261b877c8bd28a91e9c35a307ab8266dd0def592/images/dc3.png -------------------------------------------------------------------------------- /images/dc4.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dahburj/unity-depth-camera/261b877c8bd28a91e9c35a307ab8266dd0def592/images/dc4.png -------------------------------------------------------------------------------- /images/dc5.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dahburj/unity-depth-camera/261b877c8bd28a91e9c35a307ab8266dd0def592/images/dc5.png --------------------------------------------------------------------------------