투명디스플레이 연구사업

using UnityEngine;

using System.Collections;

public class SceneMeshVisualizer : MonoBehaviour

{

	[Tooltip("Minimum tracked distance from the sensor, in meters.")]

	public float minDistance = 1f;

	[Tooltip("Maximum tracked distance from the sensor, in meters.")]

	public float maxDistance = 3f;

	[Tooltip("Maximum left and right distance from the sensor, in meters.")]

	public float maxLeftRight = 2f;

	[Tooltip("Whether to include players to the scene mesh or not.")]

	public bool includePlayers = false;

	[Tooltip("Time interval between scene mesh updates, in seconds.")]

	public float updateMeshInterval = 0.1f;

	[Tooltip("Whether to update the mesh, only when there are no players detected.")]

	public bool updateWhenNoPlayers = false;

	[Tooltip("Whether the mesh is facing the player or not.")]

	private bool mirroredScene = true;

	[Tooltip("Camera that may be used to overlay the mesh over the color background.")]

	public Camera foregroundCamera;

	[Tooltip("Whether to update the mesh collider as well, when the user mesh changes.")]

	public bool updateMeshCollider = false;

	[Tooltip("Number of pixels per direction in a sample.")]

	private const int sampleSize = 2;

    private Mesh mesh;

    private Vector3[] vertices;

    private Vector2[] uvs;

    private int[] triangles;

	private KinectManager manager = null;

	private KinectInterop.SensorData sensorData = null;

	//private Vector3[] spaceCoords = null;

	private Matrix4x4 kinectToWorld = Matrix4x4.identity;

	private float lastMeshUpdateTime = 0f;

	private int colorWidth = 0;

	private int colorHeight = 0;

	private int depthWidth = 0;

	private int depthHeight = 0;

	private int sampledWidth = 0;

	private int sampledHeight = 0;

	private int minDepth = 0;

	private int maxDepth = 0;

	private Vector3 sceneMeshPos = Vector3.zero;

	private byte[] vertexType;

	private int[] vertexIndex;

    void Start()

    {

		if (foregroundCamera == null) 

		{

			foregroundCamera = Camera.main;

		}

		manager = KinectManager.Instance;

		if (manager != null && manager.IsInitialized())

        {

			sensorData = manager.GetSensorData();

			minDepth = Mathf.RoundToInt(minDistance * 1000f);

			maxDepth = Mathf.RoundToInt(maxDistance * 1000f);

			colorWidth = manager.GetColorImageWidth();

			colorHeight = manager.GetColorImageHeight();

			depthWidth = manager.GetDepthImageWidth();

			depthHeight = manager.GetDepthImageHeight();

			sampledWidth = depthWidth / sampleSize;

			sampledHeight = depthHeight / sampleSize;

			if(sensorData.depth2SpaceCoords == null)

			{

				sensorData.depth2SpaceCoords = new Vector3[depthWidth * depthHeight];

			}

			sceneMeshPos = transform.position;

			if(!mirroredScene)

			{

				sceneMeshPos.x = -sceneMeshPos.x;

			}

			vertexType = new byte[sampledWidth * sampledHeight];

			vertexIndex = new int[sampledWidth * sampledHeight];

			CreateMesh(sampledWidth, sampledHeight);

        }

    }

    private void CreateMesh(int width, int height)

    {

        mesh = new Mesh();

		mesh.name = "SceneMesh";

        GetComponent<MeshFilter>().mesh = mesh;

    }

    void Update()

    {

		if (manager == null || !manager.IsInitialized())

			return;

		// get user texture

		Renderer renderer = GetComponent<Renderer>();

		if(renderer && renderer.material && renderer.material.mainTexture == null)

		{

			renderer.material.mainTexture = manager.GetUsersClrTex();

		}

		// update the mesh position

		sceneMeshPos = transform.position;

		if(!mirroredScene)

		{

			sceneMeshPos.x = -sceneMeshPos.x;

		}

		// get kinect-to-world matrix

		kinectToWorld = manager.GetKinectToWorldMatrix();

		// update the mesh

		UpdateMesh();

    }

    private void UpdateMesh()

    {

		if(sensorData.depthImage != null && sensorData.depth2ColorCoords != null && 

			sensorData.depth2SpaceCoords != null && sensorData.spaceCoordsBufferReady)

		{

			if ((Time.time - lastMeshUpdateTime) >= updateMeshInterval &&

				(!updateWhenNoPlayers || !manager.IsUserDetected())) 

			{

				int vCount = 0, tCount = 0;

				EstimateSceneVertices(out vCount, out tCount);

				vertices = new Vector3[vCount];

				uvs = new Vector2[vCount];

				triangles = new int[6 * tCount];

				int index = 0, vIndex = 0, tIndex = 0, xyIndex = 0;

				for (int y = 0; y < depthHeight; y += sampleSize)

				{

					int xyStartIndex = xyIndex;

					for (int x = 0; x < depthWidth; x += sampleSize)

					{

						Vector3 vSpacePos = sensorData.depth2SpaceCoords[xyIndex];

						if(vertexType[index] != 0 &&

							!float.IsInfinity(vSpacePos.x) && !float.IsInfinity(vSpacePos.y) && !float.IsInfinity(vSpacePos.z))

						{

							Vector2 vColorPos = sensorData.depth2ColorCoords[xyIndex];

							if(!float.IsInfinity(vColorPos.x) && !float.IsInfinity(vColorPos.y))

							{

								uvs[vIndex] = new Vector2(Mathf.Clamp01(vColorPos.x / colorWidth), Mathf.Clamp01(vColorPos.y / colorHeight));

							}

							// check for color overlay

							if (foregroundCamera) 

							{

								// get the background rectangle (use the portrait background, if available)

								Rect backgroundRect = foregroundCamera.pixelRect;

								PortraitBackground portraitBack = PortraitBackground.Instance;

								if(portraitBack && portraitBack.enabled)

								{

									backgroundRect = portraitBack.GetBackgroundRect();

								}

								ushort depthValue = sensorData.depthImage[xyIndex];

								if(!float.IsInfinity(vColorPos.x) && !float.IsInfinity(vColorPos.y) && depthValue > 0)

								{

									float xScaled = (float)vColorPos.x * backgroundRect.width / sensorData.colorImageWidth;

									float yScaled = (float)vColorPos.y * backgroundRect.height / sensorData.colorImageHeight;

									float xScreen = backgroundRect.x + xScaled;

									float yScreen = backgroundRect.y + backgroundRect.height - yScaled;

									float zDistance = (float)depthValue / 1000f;

									vSpacePos = foregroundCamera.ScreenToWorldPoint(new Vector3(xScreen, yScreen, zDistance));

								}

							}

							if(!mirroredScene)

							{

								vSpacePos.x = -vSpacePos.x;

							}

							if(foregroundCamera == null) 

							{

								// convert space to world coords, when there is no color overlay

								vSpacePos = kinectToWorld.MultiplyPoint3x4(vSpacePos);

							}

							vertices[vIndex] = vSpacePos - sceneMeshPos;

							vIndex++;

							if(vertexType[index] == 3)

							{

								if(mirroredScene)

								{

									triangles[tIndex++] = vertexIndex[index];  // top left

									triangles[tIndex++] = vertexIndex[index + 1];  // top right

									triangles[tIndex++] = vertexIndex[index + sampledWidth];  // bottom left

									triangles[tIndex++] = vertexIndex[index + sampledWidth];  // bottom left

									triangles[tIndex++] = vertexIndex[index + 1];  // top right

									triangles[tIndex++] = vertexIndex[index + sampledWidth + 1];  // bottom right

								}

								else

								{

									triangles[tIndex++] = vertexIndex[index + 1];  // top left

									triangles[tIndex++] = vertexIndex[index];  // top right

									triangles[tIndex++] = vertexIndex[index + sampledWidth + 1];  // bottom left

									triangles[tIndex++] = vertexIndex[index + sampledWidth + 1];  // bottom left

									triangles[tIndex++] = vertexIndex[index];  // top right

									triangles[tIndex++] = vertexIndex[index + sampledWidth];  // bottom right

								}

							}

						}

						index++;

						xyIndex += sampleSize;

					}

					xyIndex = xyStartIndex + sampleSize * depthWidth;

				}

				// update the mesh

				mesh.Clear();

				mesh.vertices = vertices;

				mesh.uv = uvs;

				//mesh.normals = normals;

				mesh.triangles = triangles;

				mesh.RecalculateNormals();

				mesh.RecalculateBounds();

				if (updateMeshCollider) 

				{

					MeshCollider meshCollider = GetComponent<MeshCollider>();

					if (meshCollider) 

					{

						meshCollider.sharedMesh = null;

						meshCollider.sharedMesh = mesh;

					}

				}

				// save update time

				lastMeshUpdateTime = Time.time;

			}

			// buffer is released

			lock(sensorData.spaceCoordsBufferLock)

			{

				sensorData.spaceCoordsBufferReady = false;

			}

		}

    }

	// estimates which and how many sampled vertices are valid

	private void EstimateSceneVertices(out int count1, out int count3)

	{

		System.Array.Clear(vertexType, 0, vertexType.Length);

		Vector3[] vSpacePos = new Vector3[4];

		int rowIndex = 0;

		for (int y = 0; y < sampledHeight - 1; y++)

		{

			int pixIndex = rowIndex;

			for (int x = 0; x < sampledWidth - 1; x++)

			{

				if(IsSceneSampleValid(x, y, ref vSpacePos[0]) && IsSceneSampleValid(x + 1, y, ref vSpacePos[1]) &&

				   IsSceneSampleValid(x, y + 1, ref vSpacePos[2]) && IsSceneSampleValid(x + 1, y + 1, ref vSpacePos[3]))

				{

					if(IsSpacePointsClose(vSpacePos, 0.01f))

					{

						vertexType[pixIndex] = 3;

						vertexType[pixIndex + 1] = 1;

						vertexType[pixIndex + sampledWidth] = 1;

						vertexType[pixIndex + sampledWidth + 1] = 1;

					}

				}

				pixIndex++;

			}

			rowIndex += sampledWidth;

		}

		// estimate counts

		count1 = 0;

		count3 = 0;

		for(int i = 0; i < vertexType.Length; i++)

		{

			if(vertexType[i] != 0)

			{

				vertexIndex[i] = count1;

				count1++;

			}

			else

			{

				vertexIndex[i] = 0;

			}

			if(vertexType[i] == 3)

			{

				count3++;

			}

		}

	}

	// checks if the space points are closer to each other than the minimum squared distance

	private bool IsSpacePointsClose(Vector3[] vSpacePos, float fMinDistSquared)

	{

		int iPosLength = vSpacePos.Length;

		for(int i = 0; i < iPosLength; i++)

		{

			for(int j = i + 1; j < iPosLength; j++)

			{

				Vector3 vDist = vSpacePos[j] - vSpacePos[i];

				if(vDist.sqrMagnitude > fMinDistSquared)

					return false;

			}

		}

		return true;

	}

	// checks whether this sample block is valid for the scene

	private bool IsSceneSampleValid(int x, int y, ref Vector3 vSpacePos)

	{

		int pixelIndex = y * sampleSize * depthWidth + x * sampleSize;

		int depth = sensorData.depthImage[pixelIndex];

		vSpacePos = sensorData.depth2SpaceCoords[pixelIndex];

		// check for valid scene or body pixel

		bool isValidScenePixel = !includePlayers ? sensorData.bodyIndexImage[pixelIndex] == 255 : true;

		if(isValidScenePixel && depth >= minDepth && depth <= maxDepth &&

		   !float.IsInfinity(vSpacePos.x) && !float.IsInfinity(vSpacePos.y) && !float.IsInfinity(vSpacePos.z) &&

		   (maxLeftRight < 0f || (vSpacePos.x >= -maxLeftRight && vSpacePos.x <= maxLeftRight)))

		{

			return true;

		} 

		return false;

	}

}