투명디스플레이 연구사업

// Each #kernel tells which function to compile; you can have many kernels

#pragma kernel MapDepthFrame2ColorFrame

#pragma kernel MapColorSpace2DepthFrame

float2 depthFocalLength;

float2 depthPrincipalPoint;

float3 depthRadialDistortion;

float2 colorFocalLength;

float2 colorPrincipalPoint;

float3 colorRadialDistortion;

float4x4 depth2colorMat;

float4x4 color2depthMat;

StructuredBuffer<float2> depthPlaneCoords;

StructuredBuffer<int> depthDepthValues;

RWStructuredBuffer<float2> colorPlaneCoords;

StructuredBuffer<half3> colorSpaceCoords;

RWStructuredBuffer<half2> colorDepthCoords;

[numthreads(64,1,1)]

void MapDepthFrame2ColorFrame (uint3 id : SV_DispatchThreadID)

{

    int idx = id.x;

	float depth = (float)depthDepthValues[idx] / 1000.0;

	// unproject from depth plane

	float x = (depthPlaneCoords[idx].x - depthPrincipalPoint.x) / depthFocalLength.x;

	float y = (depthPrincipalPoint.y - depthPlaneCoords[idx].y) / depthFocalLength.y;

	// undistort

	float r = x * x + y * y;

	float d = 1 - depthRadialDistortion.x * r - depthRadialDistortion.y * r * r - depthRadialDistortion.z * r * r * r;

	// depth space coords

	float4 depthSpacePoint = float4(x * d * depth, y * d * depth, depth, 1.0);

	// color space coords

	float4 colorSpacePoint = mul(depth2colorMat, depthSpacePoint);

	// project on color plane

	float u = colorFocalLength.x * colorSpacePoint.x / colorSpacePoint.z + colorPrincipalPoint.x;

	float v = colorPrincipalPoint.y - (colorFocalLength.y * colorSpacePoint.y / colorSpacePoint.z);

	// distort 

	u = (u - colorPrincipalPoint.x) / colorFocalLength.x;

	v = (colorPrincipalPoint.y - v) / colorFocalLength.y;

	r = u * u + v * v;

	d = 1 + colorRadialDistortion.x * r + colorRadialDistortion.y * r * r + colorRadialDistortion.z * r * r * r;

	u = u * d * colorFocalLength.x + colorPrincipalPoint.x;

	v = colorPrincipalPoint.y - v * d * colorFocalLength.y;

	colorPlaneCoords[idx] = float2(u, v);

}

[numthreads(64,1,1)]

void MapColorSpace2DepthFrame (uint3 id : SV_DispatchThreadID)

{

    int idx = id.x;

	// color space coords

	float4 colorSpacePoint = float4((float3)colorSpaceCoords[idx], 1.0);

	// depth space coords

	float4 depthSpacePoint = mul(color2depthMat, colorSpacePoint);

	// project on depth plane

	float u = depthFocalLength.x * depthSpacePoint.x / depthSpacePoint.z + depthPrincipalPoint.x;

	float v = depthPrincipalPoint.y - (depthFocalLength.y * depthSpacePoint.y / depthSpacePoint.z);

	// distort 

	u = (u - depthPrincipalPoint.x) / depthFocalLength.x;

	v = (depthPrincipalPoint.y - v) / depthFocalLength.y;

	float r = u * u + v * v;

	float d = 1 + depthRadialDistortion.x * r + depthRadialDistortion.y * r * r + depthRadialDistortion.z * r * r * r;

	u = u * d * depthFocalLength.x + depthPrincipalPoint.x;

	v = depthPrincipalPoint.y - v * d * depthFocalLength.y;

	colorDepthCoords[idx] = half2(u, v);

}