├── .gitignore
├── Assets
├── AzureKinectExamples.meta
└── AzureKinectExamples
│ ├── KinectDemos.meta
│ ├── KinectDemos
│ ├── ColorDepthDemo.meta
│ ├── ColorDepthDemo
│ │ ├── BasicColorDepthDemo.unity
│ │ └── BasicColorDepthDemo.unity.meta
│ ├── PointCloudDemo.meta
│ └── PointCloudDemo
│ │ ├── Attribution.txt
│ │ ├── Attribution.txt.meta
│ │ ├── HDRP.meta
│ │ ├── HDRP
│ │ ├── HDRP.asset
│ │ ├── HDRP.asset.meta
│ │ ├── VFXDefaultResources.asset
│ │ └── VFXDefaultResources.asset.meta
│ │ ├── MeshTex.meta
│ │ ├── MeshTex
│ │ ├── Disk.png
│ │ ├── Disk.png.meta
│ │ ├── Dot.png
│ │ └── Dot.png.meta
│ │ ├── Textures.meta
│ │ ├── Textures
│ │ ├── PointCloudColorMapK4A.renderTexture
│ │ ├── PointCloudColorMapK4A.renderTexture.meta
│ │ ├── PointCloudVertexMapK4A.renderTexture
│ │ └── PointCloudVertexMapK4A.renderTexture.meta
│ │ ├── VFX.meta
│ │ ├── VFX
│ │ ├── ColorPointCloud.vfx
│ │ ├── ColorPointCloud.vfx.meta
│ │ ├── Cords.vfx
│ │ ├── Cords.vfx.meta
│ │ ├── Lines.vfx
│ │ ├── Lines.vfx.meta
│ │ ├── Particles.vfx
│ │ ├── Particles.vfx.meta
│ │ ├── Point.vfx
│ │ ├── Point.vfx.meta
│ │ ├── Voxel.vfx
│ │ ├── Voxel.vfx.meta
│ │ ├── WhitePointCloud.vfx
│ │ └── WhitePointCloud.vfx.meta
│ │ ├── VfxPointCloudDemo.unity
│ │ └── VfxPointCloudDemo.unity.meta
│ ├── KinectScripts.meta
│ ├── KinectScripts
│ ├── BackgroundColorImage.cs
│ ├── BackgroundColorImage.cs.meta
│ ├── BackgroundDepthImage.cs
│ ├── BackgroundDepthImage.cs.meta
│ ├── FollowSensorTransform.cs
│ ├── FollowSensorTransform.cs.meta
│ ├── Interfaces.meta
│ ├── Interfaces
│ │ ├── DepthSensorBase.cs
│ │ ├── DepthSensorBase.cs.meta
│ │ ├── DepthSensorInterface.cs
│ │ ├── DepthSensorInterface.cs.meta
│ │ ├── Kinect4AzureInterface.cs
│ │ └── Kinect4AzureInterface.cs.meta
│ ├── KinectInterop.cs
│ ├── KinectInterop.cs.meta
│ ├── KinectManager.cs
│ └── KinectManager.cs.meta
│ ├── Resources.meta
│ ├── Resources
│ ├── DepthHistImageShader.shader
│ ├── DepthHistImageShader.shader.meta
│ ├── PointCloudVertexShaderAll.compute
│ └── PointCloudVertexShaderAll.compute.meta
│ ├── SDK.meta
│ └── SDK
│ ├── Kinect4AzureSDK.meta
│ ├── Kinect4AzureSDK
│ ├── Plugins.meta
│ └── Plugins
│ │ ├── Microsoft.Azure.Kinect.Sensor.dll
│ │ ├── Microsoft.Azure.Kinect.Sensor.dll.meta
│ │ ├── System.Buffers.dll
│ │ ├── System.Buffers.dll.meta
│ │ ├── System.Memory.dll
│ │ ├── System.Memory.dll.meta
│ │ ├── System.Runtime.CompilerServices.Unsafe.dll
│ │ ├── System.Runtime.CompilerServices.Unsafe.dll.meta
│ │ ├── depthengine_2_0.dll
│ │ ├── depthengine_2_0.dll.meta
│ │ ├── k4a.dll
│ │ ├── k4a.dll.meta
│ │ ├── k4arecord.dll
│ │ └── k4arecord.dll.meta
│ ├── Third-Party-Notices.txt
│ └── Third-Party-Notices.txt.meta
├── LICENSE
├── Packages
└── manifest.json
├── 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
/.gitignore:
--------------------------------------------------------------------------------
1 | /.vs/
2 | /Library/
3 | /Logs/
4 | /obj/
5 | /Assembly-CSharp.csproj
6 | /AzureKinectUnityFree.sln
7 | /k4a.log
8 | /Temp/
9 |
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1 | The point cloud demo scene(s) were inspired by the Rsvfx project of Keijiro Takahashi (https://github.com/keijiro/Rsvfx), as well as by the Kinect-VFX-Graph project of Roel Kok (https://github.com/roelkok/Kinect-VFX-Graph). Kudos and big thanks to these guys!
2 |
3 |
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/Assets/AzureKinectExamples/KinectScripts/BackgroundColorImage.cs:
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1 | using UnityEngine;
2 | using System.Collections;
3 | using com.rfilkov.kinect;
4 |
5 |
6 | namespace com.rfilkov.components
7 | {
8 | ///
9 | /// Background color image is component that displays the color camera feed on RawImage texture, usually the scene background.
10 | ///
11 | public class BackgroundColorImage : MonoBehaviour
12 | {
13 | [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
14 | public int sensorIndex = 0;
15 |
16 | [Tooltip("RawImage used to display the color camera feed.")]
17 | public UnityEngine.UI.RawImage backgroundImage;
18 |
19 | [Tooltip("Camera used to display the background image. Set it, if you'd like to allow background image to resize, to match the color image's aspect ratio.")]
20 | public Camera backgroundCamera;
21 |
22 |
23 | void Start()
24 | {
25 | if (backgroundImage == null)
26 | {
27 | backgroundImage = GetComponent();
28 | }
29 | }
30 |
31 |
32 | void Update()
33 | {
34 | KinectManager kinectManager = KinectManager.Instance;
35 |
36 | if (kinectManager && kinectManager.IsInitialized())
37 | {
38 | if (backgroundImage && (backgroundImage.texture == null))
39 | {
40 | backgroundImage.texture = kinectManager.GetColorImageTex(sensorIndex);
41 | backgroundImage.rectTransform.localScale = kinectManager.GetColorImageScale(sensorIndex);
42 | backgroundImage.color = Color.white;
43 |
44 | //Debug.Log("aPos: " + backgroundImage.rectTransform.anchoredPosition + ", aMin: " + backgroundImage.rectTransform.anchorMin +
45 | // ", aMax:" + backgroundImage.rectTransform.anchorMax + ", pivot: " + backgroundImage.rectTransform.pivot +
46 | // ", size: " + backgroundImage.rectTransform.sizeDelta);
47 |
48 | if (backgroundCamera != null)
49 | {
50 | // adjust image's size and position to match the stream aspect ratio
51 | int depthImageWidth = kinectManager.GetColorImageWidth(sensorIndex);
52 | int depthImageHeight = kinectManager.GetColorImageHeight(sensorIndex);
53 |
54 | float cameraWidth = backgroundCamera.pixelRect.width;
55 | float cameraHeight = backgroundCamera.pixelRect.height;
56 |
57 | RectTransform rectImage = backgroundImage.rectTransform;
58 | float rectWidth = (rectImage.anchorMin.x != rectImage.anchorMax.x) ? cameraWidth * (rectImage.anchorMax.x - rectImage.anchorMin.x) : rectImage.sizeDelta.x;
59 | float rectHeight = (rectImage.anchorMin.y != rectImage.anchorMax.y) ? cameraHeight * (rectImage.anchorMax.y - rectImage.anchorMin.y) : rectImage.sizeDelta.y;
60 |
61 | if (rectWidth > rectHeight)
62 | rectWidth = rectHeight * depthImageWidth / depthImageHeight;
63 | else
64 | rectHeight = rectWidth * depthImageHeight / depthImageWidth;
65 |
66 | Vector2 pivotOffset = (rectImage.pivot - new Vector2(0.5f, 0.5f)) * 2f;
67 | Vector2 imageScale = (Vector2)kinectManager.GetColorImageScale(sensorIndex);
68 | Vector2 anchorPos = rectImage.anchoredPosition + pivotOffset * imageScale * new Vector2(rectWidth, rectHeight);
69 |
70 | if (rectImage.anchorMin.x != rectImage.anchorMax.x)
71 | {
72 | rectWidth = -(cameraWidth - rectWidth);
73 | }
74 |
75 | if (rectImage.anchorMin.y != rectImage.anchorMax.y)
76 | {
77 | rectHeight = -(cameraHeight - rectHeight);
78 | }
79 |
80 | rectImage.sizeDelta = new Vector2(rectWidth, rectHeight);
81 | rectImage.anchoredPosition = anchorPos;
82 | }
83 | }
84 | }
85 | }
86 |
87 | }
88 | }
89 |
90 |
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/Assets/AzureKinectExamples/KinectScripts/BackgroundDepthImage.cs:
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1 | using UnityEngine;
2 | using System.Collections;
3 | using com.rfilkov.kinect;
4 |
5 |
6 | namespace com.rfilkov.components
7 | {
8 | ///
9 | /// Background depth image is component that displays the depth camera image on RawImage texture, usually the scene background.
10 | ///
11 | public class BackgroundDepthImage : MonoBehaviour
12 | {
13 | [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
14 | public int sensorIndex = 0;
15 |
16 | [Tooltip("RawImage used to display the depth image.")]
17 | public UnityEngine.UI.RawImage backgroundImage;
18 |
19 | [Tooltip("Camera used to display the background image. Set it, if you'd like to allow background image to resize, to match the depth image's aspect ratio.")]
20 | public Camera backgroundCamera;
21 |
22 |
23 | void Start()
24 | {
25 | if (backgroundImage == null)
26 | {
27 | backgroundImage = GetComponent();
28 | }
29 | }
30 |
31 |
32 | void Update()
33 | {
34 | KinectManager kinectManager = KinectManager.Instance;
35 |
36 | if (kinectManager && kinectManager.IsInitialized())
37 | {
38 | if (backgroundImage && (backgroundImage.texture == null))
39 | {
40 | // set texture and scale
41 | backgroundImage.texture = kinectManager.GetDepthImageTex(sensorIndex);
42 | backgroundImage.rectTransform.localScale = kinectManager.GetDepthImageScale(sensorIndex);
43 | backgroundImage.color = Color.white;
44 |
45 | if (backgroundCamera != null)
46 | {
47 | // adjust image's size and position to match the stream aspect ratio
48 | int depthImageWidth = kinectManager.GetDepthImageWidth(sensorIndex);
49 | int depthImageHeight = kinectManager.GetDepthImageHeight(sensorIndex);
50 |
51 | float cameraWidth = backgroundCamera.pixelRect.width;
52 | float cameraHeight = backgroundCamera.pixelRect.height;
53 |
54 | RectTransform rectImage = backgroundImage.rectTransform;
55 | float rectWidth = (rectImage.anchorMin.x != rectImage.anchorMax.x) ? cameraWidth * (rectImage.anchorMax.x - rectImage.anchorMin.x) : rectImage.sizeDelta.x;
56 | float rectHeight = (rectImage.anchorMin.y != rectImage.anchorMax.y) ? cameraHeight * (rectImage.anchorMax.y - rectImage.anchorMin.y) : rectImage.sizeDelta.y;
57 |
58 | if (rectWidth > rectHeight)
59 | rectWidth = rectHeight * depthImageWidth / depthImageHeight;
60 | else
61 | rectHeight = rectWidth * depthImageHeight / depthImageWidth;
62 |
63 | Vector2 pivotOffset = (rectImage.pivot - new Vector2(0.5f, 0.5f)) * 2f;
64 | Vector2 imageScale = (Vector2)kinectManager.GetDepthImageScale(sensorIndex);
65 | Vector2 anchorPos = rectImage.anchoredPosition + pivotOffset * imageScale * new Vector2(rectWidth, rectHeight);
66 |
67 | if (rectImage.anchorMin.x != rectImage.anchorMax.x)
68 | {
69 | rectWidth = -(cameraWidth - rectWidth);
70 | }
71 |
72 | if (rectImage.anchorMin.y != rectImage.anchorMax.y)
73 | {
74 | rectHeight = -(cameraHeight - rectHeight);
75 | }
76 |
77 | rectImage.sizeDelta = new Vector2(rectWidth, rectHeight);
78 | rectImage.anchoredPosition = anchorPos;
79 | }
80 | }
81 | }
82 | }
83 |
84 | }
85 | }
86 |
87 |
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/Assets/AzureKinectExamples/KinectScripts/FollowSensorTransform.cs:
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1 | using System.Collections;
2 | using System.Collections.Generic;
3 | using UnityEngine;
4 | using com.rfilkov.kinect;
5 |
6 |
7 | namespace com.rfilkov.components
8 | {
9 | ///
10 | /// This component makes the game object follow the transform of the given sensor.
11 | ///
12 | public class FollowSensorTransform : MonoBehaviour
13 | {
14 | [Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
15 | public int sensorIndex = 0;
16 |
17 | [Tooltip("Smooth factor used for the game object movement and rotation.")]
18 | public float smoothFactor = 0f;
19 |
20 |
21 | // reference to the KinectManager
22 | private KinectManager kinectManager = null;
23 |
24 |
25 | void Start()
26 | {
27 | // get reference to KinectManager
28 | kinectManager = KinectManager.Instance;
29 | }
30 |
31 | void Update()
32 | {
33 | if(kinectManager && kinectManager.IsInitialized())
34 | {
35 | Transform sensorTrans = kinectManager.GetSensorTransform(sensorIndex);
36 |
37 | if(sensorTrans)
38 | {
39 | if(smoothFactor != 0f)
40 | {
41 | transform.position = Vector3.Lerp(transform.position, sensorTrans.position, smoothFactor * Time.deltaTime);
42 | transform.rotation = Quaternion.Slerp(transform.rotation, sensorTrans.rotation, smoothFactor * Time.deltaTime);
43 | }
44 | else
45 | {
46 | transform.position = sensorTrans.position;
47 | transform.rotation = sensorTrans.rotation;
48 | }
49 | }
50 | }
51 | }
52 | }
53 | }
54 |
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/Assets/AzureKinectExamples/KinectScripts/Interfaces/DepthSensorInterface.cs:
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1 | using UnityEngine;
2 | using System.Collections;
3 | using System.Collections.Generic;
4 |
5 | namespace com.rfilkov.kinect
6 | {
7 | public interface DepthSensorInterface
8 | {
9 | // returns the depth sensor platform
10 | KinectInterop.DepthSensorPlatform GetSensorPlatform();
11 |
12 | // returns the list of available sensors, controlled by this sensor interface
13 | List GetAvailableSensors();
14 |
15 | // opens the given sensor and inits needed resources. returns new sensor-data object
16 | KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth);
17 |
18 | // initializes the secondary sensor data, after sensor initialization
19 | void InitSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager);
20 |
21 | // closes the sensor and frees used resources
22 | void CloseSensor(KinectInterop.SensorData sensorData);
23 |
24 | // polls data frames in the sensor-specific thread
25 | void PollSensorFrames(KinectInterop.SensorData sensorData);
26 |
27 | // polls coordinate transformation frames and data in the sensor-specific thread
28 | void PollCoordTransformFrames(KinectInterop.SensorData sensorData);
29 |
30 | // post-processes the sensor data after polling
31 | void ProcessSensorDataInThread(KinectInterop.SensorData sensorData);
32 |
33 | // updates sensor data, if needed
34 | // returns true if update is successful, false otherwise
35 | bool UpdateSensorData(KinectInterop.SensorData sensorData, KinectManager kinectManager);
36 |
37 | // updates coordinate mapping data, if needed
38 | // returns true if update is successful, false otherwise
39 | bool UpdateFrameTransformData(KinectInterop.SensorData sensorData, KinectManager kinectManager);
40 |
41 | // updates the selected sensor textures, if needed
42 | // returns true if update is successful, false otherwise
43 | bool UpdateSensorTextures(KinectInterop.SensorData sensorData, KinectManager kinectManager, ulong prevDepthFrameTime);
44 |
45 | // returns sensor-to-world matrix
46 | Matrix4x4 GetSensorToWorldMatrix();
47 |
48 | // returns sensor transform. Please note transform updates depend on the getPoseFrames-KM setting.
49 | Transform GetSensorTransform();
50 |
51 | // returns 3d space coordinates for the given depth frame point
52 | Vector3 MapDepthPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal);
53 |
54 | // returns depth frame coordinates for the given 3d space point
55 | Vector2 MapSpacePointToDepthCoords(KinectInterop.SensorData sensorData, Vector3 spacePos);
56 |
57 | // returns 3d space coordinates for the given color frame point
58 | Vector3 MapColorPointToSpaceCoords(KinectInterop.SensorData sensorData, Vector2 colorPos, ushort depthVal);
59 |
60 | // returns color frame coordinates for the given 3d space point
61 | Vector2 MapSpacePointToColorCoords(KinectInterop.SensorData sensorData, Vector3 spacePos);
62 |
63 | // returns color-space coordinates for the given depth point
64 | Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal);
65 | }
66 | }
67 |
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/Assets/AzureKinectExamples/KinectScripts/Interfaces/Kinect4AzureInterface.cs:
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1 | using System.Collections;
2 | using System.Collections.Generic;
3 | using UnityEngine;
4 | using Microsoft.Azure.Kinect.Sensor;
5 | using System;
6 |
7 | namespace com.rfilkov.kinect
8 | {
9 | public class Kinect4AzureInterface : DepthSensorBase
10 | {
11 | [Tooltip("Color camera resolution.")]
12 | public ColorCameraMode colorCameraMode = ColorCameraMode._1920_x_1080_30Fps;
13 | public enum ColorCameraMode : int { _1280_x_720_30Fps = 1, _1920_x_1080_30Fps = 2, _2560_x_1440_30Fps = 3, _2048_x_1536_30Fps = 4, _3840_x_2160_30Fps = 5, _4096_x_3072_15Fps = 6 }
14 |
15 | [Tooltip("Depth camera mode.")]
16 | public DepthCameraMode depthCameraMode = DepthCameraMode._640_x_576_30Fps_3_86mNfov;
17 | public enum DepthCameraMode : int { _320_x_288_30Fps_5_46mNfov = 1, _640_x_576_30Fps_3_86mNfov = 2, _512_x_512_30Fps_2_88mWfov = 3, _1024x1024_15Fps_2_21mWfov = 4, PassiveIR_30Fps = 5 }
18 |
19 | [Tooltip("Device sync mode, in case of multiple wired sensors.")]
20 | public WiredSyncMode deviceSyncMode = WiredSyncMode.Standalone;
21 |
22 | [Tooltip("Subordinate device delay off master (in usec), in case of multiple wired sensors.")]
23 | public int subDeviceDelayUsec = 0;
24 |
25 | [Tooltip("Whether to flip the IMU rotation.")]
26 | public bool flipImuRotation = false;
27 |
28 |
29 | // references to the sensor
30 | public Device kinectSensor = null;
31 | public Calibration coordMapper;
32 | public Transformation coordMapperTransform = null;
33 |
34 | // playback and record
35 | public Playback kinectPlayback = null;
36 | private long playbackStartTime = 0;
37 |
38 | // status of the cameras
39 | private bool isCamerasStarted = false;
40 | private bool isImuStarted = false;
41 |
42 | // current frame number
43 | private ulong currentFrameNumber = 0;
44 | private TimeSpan timeToWait = TimeSpan.FromMilliseconds(0);
45 |
46 | // imu
47 | private ImuSample lastImuSample = null;
48 | private ImuSample curImuSample = null;
49 |
50 |
51 |
52 | public override KinectInterop.DepthSensorPlatform GetSensorPlatform()
53 | {
54 | return KinectInterop.DepthSensorPlatform.Kinect4Azure;
55 | }
56 |
57 | public override List GetAvailableSensors()
58 | {
59 | List alSensorInfo = new List();
60 |
61 | int deviceCount = Device.GetInstalledCount();
62 | for (int i = 0; i < deviceCount; i++)
63 | {
64 | KinectInterop.SensorDeviceInfo sensorInfo = new KinectInterop.SensorDeviceInfo();
65 | sensorInfo.sensorId = i.ToString();
66 | sensorInfo.sensorName = "Kinect4Azure";
67 |
68 | sensorInfo.sensorCaps = KinectInterop.FrameSource.TypeAll;
69 |
70 | Debug.Log(string.Format(" D{0}: {1}, id: {2}", i, sensorInfo.sensorName, sensorInfo.sensorId));
71 |
72 | alSensorInfo.Add(sensorInfo);
73 | }
74 |
75 | //if (alSensorInfo.Count == 0)
76 | //{
77 | // Debug.Log(" No sensor devices found.");
78 | //}
79 |
80 | return alSensorInfo;
81 | }
82 |
83 | public override KinectInterop.SensorData OpenSensor(KinectInterop.FrameSource dwFlags, bool bSyncDepthAndColor, bool bSyncBodyAndDepth)
84 | {
85 | // save initial parameters
86 | base.OpenSensor(dwFlags, bSyncDepthAndColor, bSyncBodyAndDepth);
87 |
88 | // ensure resources are in path
89 | //KinectInterop.CopyResourceFile("depthengine_1_0.x64.dll", "depthengine_1_0.dll");
90 | KinectInterop.CopyResourceFile("onnxruntime.dll", "onnxruntime.dll");
91 | KinectInterop.CopyResourceFile("dnn_model.onnx", "dnn_model.onnx");
92 |
93 | // try to open the sensor or play back the recording
94 | KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
95 |
96 | if (deviceStreamingMode == KinectInterop.DeviceStreamingMode.PlayRecording)
97 | {
98 | if (string.IsNullOrEmpty(recordingFile))
99 | {
100 | Debug.LogError("Playback selected, but the path to recording file is missing.");
101 | return null;
102 | }
103 |
104 | if (!System.IO.File.Exists(recordingFile))
105 | {
106 | Debug.LogError("PlayRecording selected, but the recording file cannot be found: " + recordingFile);
107 | return null;
108 | }
109 |
110 | Debug.Log("Playing back: " + recordingFile);
111 | kinectPlayback = new Playback(recordingFile);
112 |
113 | colorCameraMode = (ColorCameraMode)kinectPlayback.playback_config.color_resolution;
114 | depthCameraMode = (DepthCameraMode)kinectPlayback.playback_config.depth_mode;
115 | deviceSyncMode = kinectPlayback.playback_config.wired_sync_mode;
116 |
117 | coordMapper = kinectPlayback.playback_calibration;
118 | playbackStartTime = DateTime.Now.Ticks;
119 |
120 | Debug.Log(string.Format("color_track_enabled: {0}, depth_track_enabled: {1}, ir_track_enabled: {2}, imu_track_enabled: {3}, depth_delay_off_color_usec: {4}",
121 | kinectPlayback.playback_config.color_track_enabled, kinectPlayback.playback_config.depth_track_enabled,
122 | kinectPlayback.playback_config.ir_track_enabled, kinectPlayback.playback_config.imu_track_enabled,
123 | kinectPlayback.playback_config.depth_delay_off_color_usec));
124 | }
125 | else
126 | {
127 | List alSensors = GetAvailableSensors();
128 | if (deviceIndex >= alSensors.Count)
129 | {
130 | Debug.Log(" D" + deviceIndex + " is not available. You can set the device index to -1, to disable it.");
131 | return null;
132 | }
133 |
134 | // try to open the sensor
135 | kinectSensor = Device.Open(deviceIndex);
136 | if (kinectSensor == null)
137 | {
138 | Debug.LogError(" D" + recordingFile + " cannot be opened.");
139 | return null;
140 | }
141 |
142 | DeviceConfiguration kinectConfig = new DeviceConfiguration();
143 | kinectConfig.SynchronizedImagesOnly = isSyncDepthAndColor;
144 | kinectConfig.WiredSyncMode = deviceSyncMode;
145 | kinectConfig.SuboridinateDelayOffMaster = new TimeSpan(subDeviceDelayUsec * 10);
146 |
147 | // color
148 | kinectConfig.ColorFormat = ImageFormat.ColorBGRA32;
149 | if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
150 | {
151 | kinectConfig.ColorResolution = (ColorResolution)colorCameraMode;
152 | }
153 | else
154 | {
155 | kinectConfig.ColorResolution = ColorResolution.Off;
156 | }
157 |
158 | // depth
159 | if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
160 | {
161 | kinectConfig.DepthMode = (DepthMode)depthCameraMode;
162 | }
163 | else
164 | {
165 | kinectConfig.DepthMode = DepthMode.Off;
166 | }
167 |
168 | // fps
169 | if (colorCameraMode != ColorCameraMode._4096_x_3072_15Fps && depthCameraMode != DepthCameraMode._1024x1024_15Fps_2_21mWfov)
170 | {
171 | kinectConfig.CameraFPS = FPS.FPS30;
172 | }
173 | else
174 | {
175 | kinectConfig.CameraFPS = FPS.FPS15;
176 | }
177 |
178 | // infrared
179 | if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
180 | {
181 | // ??
182 | }
183 |
184 | // start the cameras
185 | kinectSensor.StartCameras(kinectConfig);
186 | isCamerasStarted = true;
187 |
188 | if ((dwFlags & KinectInterop.FrameSource.TypePose) != 0)
189 | {
190 | // start the IMU
191 | kinectSensor.StartImu();
192 | isImuStarted = true;
193 | }
194 |
195 | // get reference to the coordinate mapper
196 | coordMapper = kinectSensor.GetCalibration();
197 | }
198 |
199 | // reset the frame number
200 | currentFrameNumber = 0;
201 |
202 | // flip color & depth image vertically
203 | sensorData.colorImageScale = new Vector3(-1f, -1f, 1f);
204 | sensorData.depthImageScale = new Vector3(-1f, -1f, 1f);
205 | sensorData.infraredImageScale = new Vector3(-1f, -1f, 1f);
206 | sensorData.sensorSpaceScale = new Vector3(-1f, -1f, 1f);
207 |
208 | // color camera data & intrinsics
209 | sensorData.colorImageFormat = TextureFormat.BGRA32;
210 | sensorData.colorImageStride = 4; // 4 bytes per pixel
211 |
212 | if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
213 | {
214 | CameraCalibration colorCamera = coordMapper.ColorCameraCalibration;
215 | sensorData.colorImageWidth = colorCamera.ResolutionWidth;
216 | sensorData.colorImageHeight = colorCamera.ResolutionHeight;
217 |
218 | rawColorImage = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight * 4];
219 |
220 | sensorData.colorImageTexture = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.BGRA32, false);
221 | sensorData.colorImageTexture.wrapMode = TextureWrapMode.Clamp;
222 | sensorData.colorImageTexture.filterMode = FilterMode.Point;
223 | }
224 |
225 | // depth camera data & intrinsics
226 | if ((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
227 | {
228 | CameraCalibration depthCamera = coordMapper.DepthCameraCalibration;
229 | sensorData.depthImageWidth = depthCamera.ResolutionWidth;
230 | sensorData.depthImageHeight = depthCamera.ResolutionHeight;
231 |
232 | rawDepthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight];
233 | sensorData.depthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight];
234 | }
235 |
236 | // infrared data
237 | if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
238 | {
239 | if (sensorData.depthImageWidth == 0 || sensorData.depthImageHeight == 0)
240 | {
241 | CameraCalibration depthCamera = coordMapper.DepthCameraCalibration;
242 | sensorData.depthImageWidth = depthCamera.ResolutionWidth;
243 | sensorData.depthImageHeight = depthCamera.ResolutionHeight;
244 | }
245 |
246 | rawInfraredImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight];
247 | sensorData.infraredImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight];
248 | }
249 |
250 | // calibration data
251 | GetCameraIntrinsics(CalibrationDeviceType.Color, coordMapper.ColorCameraCalibration, ref sensorData.colorCamIntr);
252 | GetCameraIntrinsics(CalibrationDeviceType.Depth, coordMapper.DepthCameraCalibration, ref sensorData.depthCamIntr);
253 | GetCameraExtrinsics(coordMapper.ColorCameraCalibration.Extrinsics, ref sensorData.depth2ColorExtr);
254 |
255 | Debug.Log("Kinect4Azure-sensor opened.");
256 |
257 | return sensorData;
258 | }
259 |
260 |
261 | public override void CloseSensor(KinectInterop.SensorData sensorData)
262 | {
263 | base.CloseSensor(sensorData);
264 |
265 | if(coordMapperTransform != null)
266 | {
267 | // dispose CM transform
268 | coordMapperTransform.Dispose();
269 | coordMapperTransform = null;
270 | }
271 |
272 | if(kinectPlayback != null)
273 | {
274 | // close the playback file
275 | kinectPlayback.Dispose();
276 | kinectPlayback = null;
277 | }
278 |
279 | if (kinectSensor != null)
280 | {
281 | // stop cameras, if needed
282 | if(isCamerasStarted)
283 | {
284 | isCamerasStarted = false;
285 | kinectSensor.StopCameras();
286 | }
287 |
288 | // stop IMU, if needed
289 | if(isImuStarted)
290 | {
291 | isImuStarted = false;
292 | kinectSensor.StopImu();
293 | }
294 |
295 | // close the sensor
296 | kinectSensor.Dispose();
297 | kinectSensor = null;
298 | }
299 |
300 | Debug.Log("Kinect4Azure-sensor closed.");
301 |
302 | }
303 |
304 |
305 | public override void PollSensorFrames(KinectInterop.SensorData sensorData)
306 | {
307 | try
308 | {
309 | if (kinectPlayback != null)
310 | {
311 | if (kinectPlayback.IsEndOfStream())
312 | return;
313 |
314 | long currentPlayTime = DateTime.Now.Ticks - playbackStartTime;
315 |
316 | if ((frameSourceFlags & (KinectInterop.FrameSource)0x7F) != 0)
317 | {
318 | kinectPlayback.SeekTimestamp((ulong)(currentPlayTime / 10));
319 | Capture capture = kinectPlayback.GetNextCapture();
320 |
321 | if (capture != null)
322 | {
323 | ProcessCameraFrame(sensorData, capture);
324 | capture.Dispose();
325 |
326 | currentFrameNumber++;
327 | }
328 | else
329 | {
330 | Debug.Log("End of recording detected.");
331 | }
332 | }
333 |
334 | //if ((frameSourceFlags & KinectInterop.FrameSource.TypePose) != 0)
335 | //{
336 | // ImuSample imuSample = kinectPlayback.GetNextImuSample();
337 |
338 | // while (imuSample != null)
339 | // {
340 | // ProcessImuFrame(imuSample);
341 |
342 | // ulong imuTimestamp = (ulong)imuSample.AccelerometerTimestamp.Ticks;
343 | // if (kinectPlayback.IsEndOfStream() || imuTimestamp >= rawDepthTimestamp)
344 | // break;
345 |
346 | // imuSample = kinectPlayback.GetNextImuSample();
347 | // }
348 | //}
349 | }
350 | else
351 | {
352 | if (isCamerasStarted)
353 | {
354 | Capture capture = kinectSensor.GetCapture(timeToWait);
355 | ProcessCameraFrame(sensorData, capture);
356 | capture.Dispose();
357 |
358 | currentFrameNumber++;
359 | }
360 |
361 | if (isImuStarted)
362 | {
363 | ImuSample imuSample = kinectSensor.GetImuSample(timeToWait);
364 |
365 | while(imuSample != null)
366 | {
367 | ProcessImuFrame(imuSample);
368 | imuSample = kinectSensor.GetImuSample(timeToWait);
369 | }
370 | }
371 | }
372 | }
373 | catch (System.TimeoutException)
374 | {
375 | // do nothing
376 | }
377 | catch (System.Exception ex)
378 | {
379 | Debug.LogException(ex);
380 | }
381 | }
382 |
383 |
384 | // processes the camera frame
385 | private void ProcessCameraFrame(KinectInterop.SensorData sensorData, Capture capture)
386 | {
387 | // check for color & depth sync
388 | if (isSyncDepthAndColor && (capture.Color == null || capture.Depth == null))
389 | return;
390 |
391 | try
392 | {
393 | // color frame
394 | if (capture.Color != null && rawColorImage != null)
395 | {
396 | //if (kinectPlayback != null)
397 | // WaitForPlaybackTimestamp("color", capture.Color.DeviceTimestamp.Ticks);
398 |
399 | lock (colorFrameLock)
400 | {
401 | capture.Color.CopyBytesTo(rawColorImage, 0, 0, rawColorImage.Length);
402 |
403 | rawColorTimestamp = (ulong)capture.Color.DeviceTimestamp.Ticks;
404 | colorFrameNumber = currentFrameNumber;
405 | //Debug.Log("RawColorTimestamp: " + rawColorTimestamp);
406 | }
407 | }
408 |
409 | // depth frame
410 | if (capture.Depth != null && rawDepthImage != null)
411 | {
412 | //if (kinectPlayback != null)
413 | // WaitForPlaybackTimestamp("depth", capture.Depth.DeviceTimestamp.Ticks);
414 |
415 | lock (depthFrameLock)
416 | {
417 | capture.Depth.CopyTo(rawDepthImage, 0, 0, rawDepthImage.Length);
418 |
419 | rawDepthTimestamp = (ulong)capture.Depth.DeviceTimestamp.Ticks;
420 | depthFrameNumber = currentFrameNumber;
421 | //Debug.Log("RawDepthTimestamp: " + rawDepthTimestamp);
422 | }
423 | }
424 |
425 | // infrared frame
426 | if (capture.IR != null && rawInfraredImage != null)
427 | {
428 | //if (kinectPlayback != null)
429 | // WaitForPlaybackTimestamp("ir", capture.IR.DeviceTimestamp.Ticks);
430 |
431 | lock (infraredFrameLock)
432 | {
433 | capture.IR.CopyTo(rawInfraredImage, 0, 0, rawInfraredImage.Length);
434 |
435 | rawInfraredTimestamp = (ulong)capture.IR.DeviceTimestamp.Ticks;
436 | infraredFrameNumber = currentFrameNumber;
437 | //Debug.Log("RawInfraredTimestamp: " + rawInfraredTimestamp);
438 | }
439 | }
440 |
441 | // transformation data frames
442 | if ((depth2ColorDataFrame != null || color2DepthDataFrame != null) && capture.Color != null && capture.Depth != null)
443 | {
444 | if (coordMapperTransform == null)
445 | {
446 | coordMapperTransform = coordMapper.CreateTransformation();
447 | }
448 |
449 | if (depth2ColorDataFrame != null)
450 | {
451 | lock (depth2ColorFrameLock)
452 | {
453 | using (Image d2cColorData = coordMapperTransform.ColorImageToDepthCamera(capture))
454 | {
455 | d2cColorData.CopyTo(depth2ColorDataFrame, 0, 0, depth2ColorDataFrame.Length);
456 | lastDepth2ColorFrameTime = (ulong)capture.Depth.DeviceTimestamp.Ticks;
457 | }
458 | }
459 | }
460 |
461 | if (color2DepthDataFrame != null)
462 | {
463 | lock (color2DepthFrameLock)
464 | {
465 | using (Image c2dDepthData = coordMapperTransform.DepthImageToColorCamera(capture))
466 | {
467 | c2dDepthData.CopyTo(color2DepthDataFrame, 0, 0, color2DepthDataFrame.Length);
468 | lastColor2DepthFrameTime = (ulong)capture.Color.DeviceTimestamp.Ticks;
469 | }
470 | }
471 | }
472 | }
473 | }
474 | catch (System.Exception ex)
475 | {
476 | Debug.LogException(ex);
477 | }
478 | }
479 |
480 |
481 | //// in playback mode - waits until the given time stamp
482 | //private void WaitForPlaybackTimestamp(string frameSource, long frameTimestamp)
483 | //{
484 | // //Debug.Log(string.Format("{0} ts: {1}, sys: {2}", frameSource, frameTimestamp, (DateTime.Now.Ticks - playbackStartTime)));
485 |
486 | // long currentPlayTime = DateTime.Now.Ticks - playbackStartTime;
487 |
488 | // while (currentPlayTime < frameTimestamp)
489 | // {
490 | // currentPlayTime = DateTime.Now.Ticks - playbackStartTime;
491 | // }
492 | //}
493 |
494 | // processes the IMU frame
495 | private void ProcessImuFrame(ImuSample imuSample)
496 | {
497 | if (kinectPlayback != null)
498 | {
499 | //WaitForPlaybackTimestamp("acc", imuSample.AccelerometerTimestampInUsec);
500 | //WaitForPlaybackTimestamp("gyro", imuSample.GyroTimestampInUsec);
501 | }
502 |
503 | lastImuSample = curImuSample;
504 | curImuSample = imuSample;
505 | }
506 |
507 |
508 | // gets the given camera intrinsics
509 | private void GetCameraIntrinsics(CalibrationDeviceType camType, CameraCalibration camParams, ref KinectInterop.CameraIntrinsics intr)
510 | {
511 | Intrinsics camIntr = camParams.Intrinsics;
512 | if (camIntr.Parameters.Length < 15)
513 | throw new System.Exception("Intrinsics length is less than expected: " + camIntr.ParameterCount);
514 |
515 | intr = new KinectInterop.CameraIntrinsics();
516 |
517 | intr.cameraType = (int)camType;
518 | intr.width = camParams.ResolutionWidth;
519 | intr.height = camParams.ResolutionHeight;
520 |
521 | // 0 float cx;
522 | // 1 float cy;
523 | intr.ppx = camIntr.Parameters[0];
524 | intr.ppy = camIntr.Parameters[1];
525 |
526 | // 2 float fx; /**< Focal length x */
527 | // 3 float fy; /**< Focal length y */
528 | intr.fx = camIntr.Parameters[2];
529 | intr.fy = camIntr.Parameters[3];
530 |
531 | // 4 float k1;
532 | // 5 float k2;
533 | // 6 float k3;
534 | // 7 float k4;
535 | // 8 float k5;
536 | // 9 float k6;
537 | intr.distCoeffs = new float[6];
538 | intr.distCoeffs[0] = camIntr.Parameters[4];
539 | intr.distCoeffs[1] = camIntr.Parameters[5];
540 | intr.distCoeffs[2] = camIntr.Parameters[6];
541 | intr.distCoeffs[3] = camIntr.Parameters[7];
542 | intr.distCoeffs[4] = camIntr.Parameters[8];
543 | intr.distCoeffs[5] = camIntr.Parameters[9];
544 |
545 | if (camIntr.Type == CalibrationModelType.Theta)
546 | intr.distType = KinectInterop.DistortionType.Theta;
547 | else if (camIntr.Type == CalibrationModelType.Polynomial3K)
548 | intr.distType = KinectInterop.DistortionType.Polynomial3K;
549 | else if (camIntr.Type == CalibrationModelType.Rational6KT)
550 | intr.distType = KinectInterop.DistortionType.Rational6KT;
551 | else
552 | intr.distType = (KinectInterop.DistortionType)camIntr.Type;
553 |
554 | // 10 float codx;
555 | // 11 float cody;
556 | intr.codx = camIntr.Parameters[10];
557 | intr.cody = camIntr.Parameters[11];
558 |
559 | // 12 float p2;
560 | // 13 float p1;
561 | intr.p2 = camIntr.Parameters[12];
562 | intr.p1 = camIntr.Parameters[13];
563 |
564 | // 14 float metric_radius;
565 | intr.maxRadius = camIntr.Parameters[14];
566 |
567 | EstimateFOV(intr);
568 | }
569 |
570 |
571 | // gets the given camera extrinsics
572 | private void GetCameraExtrinsics(Extrinsics camExtr, ref KinectInterop.CameraExtrinsics extr)
573 | {
574 | extr = new KinectInterop.CameraExtrinsics();
575 |
576 | extr.rotation = new float[camExtr.Rotation.Length];
577 | camExtr.Rotation.CopyTo(extr.rotation, 0);
578 |
579 | extr.translation = new float[camExtr.Translation.Length];
580 | camExtr.Translation.CopyTo(extr.translation, 0);
581 | }
582 |
583 |
584 | public override Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal)
585 | {
586 | if (sensorData.depthCamIntr != null && sensorData.colorCamIntr != null && sensorData.depth2ColorExtr != null)
587 | {
588 | Vector3 depthSpacePos = UnprojectPoint(sensorData.depthCamIntr, depthPos, (float)depthVal);
589 | Vector3 colorSpacePos = TransformPoint(sensorData.depth2ColorExtr, depthSpacePos);
590 | Vector2 colorPos = ProjectPoint(sensorData.colorCamIntr, colorSpacePos);
591 |
592 | return colorPos;
593 | }
594 |
595 | return Vector2.zero;
596 | }
597 |
598 |
599 | // unprojects plane point into the space
600 | protected override Vector3 UnprojectPoint(KinectInterop.CameraIntrinsics intr, Vector2 pixel, float depth)
601 | {
602 | if (depth <= 0f)
603 | return Vector3.zero;
604 |
605 | System.Numerics.Vector2 fPixel = new System.Numerics.Vector2(pixel.x, pixel.y);
606 | System.Numerics.Vector3? fPoint = coordMapper.TransformTo3D(fPixel, depth, (CalibrationDeviceType)intr.cameraType, (CalibrationDeviceType)intr.cameraType);
607 | Vector3 point = fPoint.HasValue ? new Vector3(fPoint.Value.X, fPoint.Value.Y, fPoint.Value.Z) : Vector3.zero;
608 |
609 | return point;
610 | }
611 |
612 |
613 | // projects space point onto a plane
614 | protected override Vector2 ProjectPoint(KinectInterop.CameraIntrinsics intr, Vector3 point)
615 | {
616 | if (point == Vector3.zero)
617 | return Vector2.zero;
618 |
619 | System.Numerics.Vector3 fPoint = new System.Numerics.Vector3(point.x, point.y, point.z);
620 | System.Numerics.Vector2? fPixel = coordMapper.TransformTo2D(fPoint, (CalibrationDeviceType)intr.cameraType, (CalibrationDeviceType)intr.cameraType);
621 | Vector2 pixel = fPixel.HasValue ? new Vector2(fPixel.Value.X, fPixel.Value.Y) : Vector2.zero;
622 |
623 | return pixel;
624 | }
625 |
626 |
627 | // transforms a point from one space to another
628 | protected override Vector3 TransformPoint(KinectInterop.CameraExtrinsics extr, Vector3 point)
629 | {
630 | float toPointX = extr.rotation[0] * point.x + extr.rotation[1] * point.y + extr.rotation[2] * point.z + extr.translation[0];
631 | float toPointY = extr.rotation[3] * point.x + extr.rotation[4] * point.y + extr.rotation[5] * point.z + extr.translation[1];
632 | float toPointZ = extr.rotation[6] * point.x + extr.rotation[7] * point.y + extr.rotation[8] * point.z + extr.translation[2];
633 |
634 | return new Vector3(toPointX, toPointY, toPointZ);
635 | }
636 |
637 | }
638 | }
639 |
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1 | // Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)'
2 |
3 | Shader "Kinect/DepthHistImageShader" {
4 | Properties {
5 | //_MainTex ("Base (RGB)", 2D) = "white" {}
6 | _FrontColor("Front color", Color) = (1, 1, 0, 1)
7 | _BackColor("Back color", Color) = (0, 0, 1, 1)
8 | _InvalidColor("Invalid color", Color) = (0, 0, 0, 0)
9 | }
10 |
11 | SubShader {
12 | Pass {
13 | ZTest Always Cull Off ZWrite Off
14 | Fog { Mode off }
15 |
16 | CGPROGRAM
17 | #pragma target 5.0
18 | //#pragma enable_d3d11_debug_symbols
19 |
20 | #pragma vertex vert
21 | #pragma fragment frag
22 |
23 | #include "UnityCG.cginc"
24 |
25 | //uniform sampler2D _MainTex;
26 | uniform uint _TexResX;
27 | uniform uint _TexResY;
28 | uniform uint _MinDepth;
29 | uniform uint _MaxDepth;
30 | uniform uint _TotalPoints;
31 |
32 | uniform float4 _FrontColor;
33 | uniform float4 _BackColor;
34 | uniform float4 _InvalidColor;
35 |
36 | StructuredBuffer _DepthMap;
37 | StructuredBuffer _HistMap;
38 |
39 | struct v2f {
40 | float4 pos : SV_POSITION;
41 | float2 uv : TEXCOORD0;
42 | };
43 |
44 | v2f vert (appdata_base v)
45 | {
46 | v2f o;
47 |
48 | o.pos = UnityObjectToClipPos (v.vertex);
49 | o.uv = v.texcoord;
50 |
51 | return o;
52 | }
53 |
54 | float4 frag (v2f i) : COLOR
55 | {
56 | uint dx = (uint)(i.uv.x * _TexResX);
57 | uint dy = (uint)(i.uv.y * _TexResY);
58 | uint di = (dx + dy * _TexResX);
59 |
60 | //return float4((float)dx / (float)_TexResX, (float)dy / (float)_TexResY, 0, 1);
61 |
62 | //int depth = _DepthMap[di];
63 | bool isOdd = di % 2 == 1;
64 | uint depth2 = _DepthMap[di >> 1];
65 | uint depth = (di % 2 == 0 ? depth2 <<= 16 : depth2) >> 16;
66 | depth = depth >= _MinDepth && depth <= _MaxDepth ? depth : 0;
67 |
68 | float hist = 1.0 - ((float)_HistMap[depth] / (float)_TotalPoints);
69 | float4 clr = lerp(_BackColor, _FrontColor, hist);
70 |
71 | //return float4(hist, hist, 0, 1); // yellow
72 | return depth > 0 ? clr : _InvalidColor;
73 | }
74 |
75 | ENDCG
76 | }
77 | }
78 |
79 | Fallback Off
80 | }
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1 | #pragma kernel BakeVertexTex
2 |
3 | uint2 DepthRes;
4 | float2 DepthScale;
5 |
6 | uint MinDepth;
7 | uint MaxDepth;
8 |
9 | StructuredBuffer SpaceTable;
10 | StructuredBuffer DepthMap;
11 |
12 | RWTexture2D PointCloudVertexTex;
13 |
14 |
15 | [numthreads(8, 8, 1)]
16 | void BakeVertexTex(uint3 id : SV_DispatchThreadID)
17 | {
18 | uint i = id.x + id.y * DepthRes.x;
19 |
20 | //bool isOdd = i % 2 == 1;
21 | //uint iDepth2 = DepthMap[i >> 1];
22 | //uint iDepth = (isOdd ? iDepth2 <<= 16 : iDepth2) >> 16;
23 |
24 | uint depth2 = DepthMap[i >> 1];
25 | uint depth = (i % 2 == 0 ? depth2 <<= 16 : depth2) >> 16;
26 | depth = depth >= MinDepth && depth <= MaxDepth ? depth : 0;
27 |
28 | float fDepth = (float)depth / 1000.0;
29 | bool mask = depth != 0;
30 |
31 | float3 pos = float3(
32 | SpaceTable[i * 3] * fDepth * DepthScale.x,
33 | SpaceTable[i * 3 + 1] * fDepth * DepthScale.y,
34 | mask ? fDepth : 1000
35 | );
36 |
37 | PointCloudVertexTex[id.xy] = float4(pos, mask);
38 | }
39 |
--------------------------------------------------------------------------------
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/Assets/AzureKinectExamples/SDK/Third-Party-Notices.txt:
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1 | This asset is governed by the Asset Store EULA; however, the following components are governed by the licenses indicated below:
2 |
3 | A. Azure Kinect Sensor SDK
4 |
5 | MIT License
6 | Copyright (c) Microsoft Corporation. All rights reserved.
7 |
8 | see https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/LICENSE
9 |
10 | B. RealSense SDK 2.0
11 |
12 | Apache License Version 2.0, January 2004
13 | Copyright(c) Intel Corporation. All Rights Reserved.
14 |
15 | see https://github.com/IntelRealSense/librealsense/blob/master/LICENSE
16 |
17 | C. Kinect SDK 2.0
18 |
19 | Microsoft Kinect for Windows v2 Software Development Kit (SDK) License Terms
20 | Copyright (c) Microsoft Corporation. All rights reserved.
21 |
22 | see SDKEula.rtf in Program Files\Microsoft SDKs\Kinect\v2.0_1409-folder.
23 |
24 |
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/LICENSE:
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1 | MIT License
2 |
3 | Copyright (c) 2019 Rumen Filkov
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 |
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/README.md:
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1 | # AzureKinectUnityFree
2 | Azure Kinect Examples for Unity (free version)
3 |
4 | ## Introduction
5 |
6 | This is the free version of 'Azure Kinect Examples for Unity' package. It works with Azure Kinect (aka Kinect4Azure, K4A) sensor only and requires at least Unity 2019.1f2.
7 | So far it contains two demo scenes:
8 | * BasicColorDepthDemo - shows the basic sensor streams - color and depth
9 | * VfxPointCloudDemo - displays the point cloud of the environment.
10 |
11 | I hope you can also get the feeling what the full package looks like. Enjoy!
12 |
13 | ## How to Run the Demo Scenes
14 |
15 | More info regarding the package and how-to-run instructions you can find [here](https://rfilkov.com/2019/07/24/azure-kinect-examples-for-unity/).
16 |
17 | ## Documentation
18 |
19 | The online documentation is avaliable [here](https://ratemt.com/k4adocs/).
20 |
21 | ## License
22 |
23 | [MIT License](LICENSE)
24 |
25 |
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