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ColoredPointCloud.cs
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/
ColoredPointCloud.cs
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/*
* SPDX-License-Identifier: (Apache-2.0 OR GPL-2.0-only)
*
* Copyright 2022 Sony Semiconductor Solutions Corporation.
*
*/
using UnityEngine;
using TofAr.V0.Color;
using TofAr.V0.Tof;
using TofAr.V0;
using TofAr.V0.Coordinate;
using Unity.Collections;
using System.Threading;
namespace TofArSamples.ColoredPointCloud
{
[RequireComponent(typeof(PointCloudMeshVisualizer))]
[RequireComponent(typeof(MeshRenderer))]
public class ColoredPointCloud : MonoBehaviour
{
private MeshRenderer meshRenderer;
private UnityEngine.Mesh mesh;
private DepthToColorProperty depthToColor = new DepthToColorProperty();
private FormatConvertProperty colorFormat = new FormatConvertProperty();
private Camera2ConfigurationProperty depthConfig = new Camera2ConfigurationProperty();
private NativeArray<byte> textureBytes;
[SerializeField]
private Material yuvTextureMaterial, rgbTextureMaterial;
private SynchronizationContext context;
private object processLock = new object();
private object meshLock = new object();
private Vector2[] meshUVs;
void Awake()
{
context = SynchronizationContext.Current;
meshRenderer = GetComponent<MeshRenderer>();
mesh = GetComponent<MeshFilter>().mesh;
}
private void OnEnable()
{
TofArTofManager.OnStreamStarted += OnTofStreamStarted;
TofArTofManager.OnFrameArrived += OnTofFrameArrived;
TofArColorManager.OnStreamStarted += OnColorStreamStarted;
}
private void OnDisable()
{
TofArTofManager.OnStreamStarted -= OnTofStreamStarted;
TofArTofManager.OnFrameArrived -= OnTofFrameArrived;
TofArColorManager.OnStreamStarted -= OnColorStreamStarted;
}
private void OnTofFrameArrived(object sender)
{
lock (processLock)
{
//apply the color frame to the point cloud mesh
depthToColor.depthFrame = TofArTofManager.Instance.DepthData.Data;
depthToColor = TofArCoordinateManager.Instance.GetProperty<DepthToColorProperty>(depthToColor);
}
}
private void Update()
{
if ((TofArColorManager.Instance.IsStreamActive || TofArColorManager.Instance.IsPlaying) && (TofArTofManager.Instance.IsStreamActive || TofArTofManager.Instance.IsPlaying))
{
SetMeshRenderer(true);
lock (processLock)
{
//apply the color frame to the point cloud mesh
depthToColor.depthFrame = TofArTofManager.Instance.DepthData.Data;
depthToColor = TofArCoordinateManager.Instance.GetProperty<DepthToColorProperty>(depthToColor);
if (depthToColor == null)
{
depthToColor = new DepthToColorProperty();
return;
}
}
lock (meshLock)
{
int depthWidth = depthConfig.width;
int depthHeight = depthConfig.height;
int colorwidth = TofArColorManager.Instance.CurrentYWidth;
int colorheight = TofArColorManager.Instance.YHeight;
var colorPoints = depthToColor.colorPoints;
for (int y = 0; y < depthHeight; y++)
{
for (int x = 0; x < depthWidth; x++)
{
int depthIndex = (y * depthWidth + x);
if (depthIndex >= depthWidth * depthHeight)
{
continue;
}
if (colorPoints[depthIndex].x >= 0 && colorPoints[depthIndex].y >= 0 && colorPoints[depthIndex].x < colorwidth && colorPoints[depthIndex].y < colorheight)
{
meshUVs[depthIndex] = (new Vector2((float)colorPoints[depthIndex].x / colorwidth, (float)colorPoints[depthIndex].y / colorheight));
}
}
}
mesh.SetUVs(0, meshUVs);
}
}
else
{
SetMeshRenderer(false);
}
}
private void SetMaterials()
{
switch (colorFormat.format)
{
case ColorFormat.YUV420:
yuvTextureMaterial.SetTexture("_YTex", TofArColorManager.Instance.YTexture);
yuvTextureMaterial.SetTexture("_UVTex", TofArColorManager.Instance.UVTexture);
meshRenderer.material = yuvTextureMaterial;
break;
case ColorFormat.RGB:
case ColorFormat.BGRA:
rgbTextureMaterial.mainTexture = TofArColorManager.Instance.ColorTexture;
meshRenderer.material = rgbTextureMaterial;
break;
}
}
private void SetMeshRenderer(bool state)
{
if (meshRenderer.enabled != state)
{
meshRenderer.enabled = state;
}
}
private void OnColorStreamStarted(object sender, Texture colorTex)
{
lock (processLock)
{
colorFormat = TofArColorManager.Instance.GetProperty<FormatConvertProperty>();
SetMaterials();
}
}
private void OnTofStreamStarted(object sender, Texture depht, Texture conf, PointCloudData pointcloud)
{
lock (processLock)
{
depthConfig = TofArTofManager.Instance.GetProperty<Camera2ConfigurationProperty>();
meshUVs = new Vector2[depthConfig.width * depthConfig.height];
}
}
}
}