Kinect获取深度图像，并呈现在Plane上
程序员文章站
2022-05-13 15:08:15
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1、创建一个Plane，材质球的属性如下。
2、先看效果，因为是Plane面板，所以位置是可以随便调整的。
2、脚本如下。值得一提的是：此脚本只锁定第一个人，其他人不会被识别和成像。
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
using System;
public class MyDepthView1 : MonoBehaviour
{
public KinectManager manager;
private int depthImageWidth;
private int depthImageHeight;
public UnityEngine.GameObject objplan;
private Texture2D texture;
ushort[] rawDepthMap;
//人面对摄像机 前后左右 距离
private float scope_X_left = -0.5f;
private float scope_X_right=0.5f;
private float scope_Z_bef =0.5f;
private float scope_Z_aft =1.5f;
Color[] Depthcolors;// = new Color[512 * 424];
//// xml.SaveToFile(name);
//顺带 显示 彩色图像-----------------------
Color32[] coltodep;//-----
private Texture2D textureCol;
Vector2[] myv2;
void Start () {
manager = KinectManager.Instance;
//-------------------------------------------------
if (manager && manager.IsInitialized())
{
KinectInterop.SensorData sensorData = manager.GetSensorData();
if (sensorData != null && sensorData.sensorInterface != null)
{
//深度图像的宽高
depthImageWidth = sensorData.depthImageWidth;
depthImageHeight = sensorData.depthImageHeight;
//深度图像的每一个像素点的颜色
Depthcolors = new Color[depthImageWidth * depthImageHeight];
//深度图像每一个像素点的坐标
myv2 = new Vector2[217088]; //深度512*424 = 217088
//创建一个宽高为512*424具有alpha的纹理的Texture2D
texture = new Texture2D(depthImageWidth, depthImageHeight, TextureFormat.ARGB32, false);
texture.wrapMode = TextureWrapMode.Clamp;
texture.filterMode = FilterMode.Trilinear;
rawDepthMap = sensorData.depthImage;//深度数据
}
}
}
private Int64 userID1;
private Int64 userID2;
private Int64 userID3;
private Int64 userID4;
private Int64 userID5;
private Int64 userID6;
// 刚开始找到人吗
private bool gbl_zhaodaoL = false;
//suoding的ID
private Int64 userID_suoding;
//
static public Int64 userID_suodingA;//给别的脚本用
static public Int64 sd_userID;
static public Vector3 posPointManLeft;//一定的距离 范围内---
Vector3 posPointMan1;
Vector3 posPointMan2;
Vector3 posPointMan3;
Vector3 posPointMan4;
Vector3 posPointMan5;
Vector3 posPointMan6;
//人 的 位置
Vector3 posPointMan1A;
//------------------------------------------------------------
//检测范围 锁定 动作触发 移动位置
private int ttt222;
private int myIdesx;
public ushort myIdesx1;
void Update () {
if (manager && manager.IsInitialized())
{
KinectInterop.SensorData sensorData = manager.GetSensorData();
if (sensorData != null && sensorData.sensorInterface != null)
{
depthImageWidth = sensorData.depthImageWidth;
depthImageHeight = sensorData.depthImageHeight;
int pp = -1;
//------------------------------锁定人物-----------------------------------------
// overlay all joints in the skeleton 至少有一个
if (manager.IsUserDetected())
{
userID1 = manager ? manager.GetUserIdByIndex(0) : 0;
userID2 = manager ? manager.GetUserIdByIndex(1) : 0;
userID3 = manager ? manager.GetUserIdByIndex(2) : 0;
userID4 = manager ? manager.GetUserIdByIndex(3) : 0;
userID5 = manager ? manager.GetUserIdByIndex(4) : 0;
userID6 = manager ? manager.GetUserIdByIndex(5) : 0;
if (gbl_zhaodaoL == false)
{
if ((userID1 != 0))
{
posPointMan1 = manager.GetUserPosition(userID1);//-------------------------
if ((posPointMan1.z> scope_Z_bef) &&(posPointMan1.z< scope_Z_aft) &&(posPointMan1.x> scope_X_left) &&(posPointMan1.x< scope_X_right))//z 前正 x 左 负 右 正
{
gbl_zhaodaoL = true;
userID_suoding = userID1;
}
}
if ((userID2 != 0))
{
posPointMan2 = manager.GetUserPosition(userID2);//-------------------------
if ((posPointMan2.z > scope_Z_bef) && (posPointMan2.z < scope_Z_aft) && (posPointMan2.x > scope_X_left) && (posPointMan2.x < scope_X_right))//z 前正 x 左 负 右 正
{
gbl_zhaodaoL = true;
userID_suoding = userID2;
}
}
if ((userID3 != 0))
{
posPointMan3 = manager.GetUserPosition(userID3);//-------------------------
if ((posPointMan3.z > scope_Z_bef) && (posPointMan3.z < scope_Z_aft) && (posPointMan3.x > scope_X_left) && (posPointMan3.x < scope_X_right))//z 前正 x 左 负 右 正
{
gbl_zhaodaoL = true;
userID_suoding = userID3;
}
}
if ((userID4 != 0))
{
posPointMan4 = manager.GetUserPosition(userID4);//-------------------------
if ((posPointMan4.z > scope_Z_bef) && (posPointMan4.z < scope_Z_aft) && (posPointMan4.x > scope_X_left) && (posPointMan4.x < scope_X_right))//z 前正 x 左 负 右 正
{
gbl_zhaodaoL = true;
userID_suoding = userID4;
}
}
if ((userID5 != 0))
{
posPointMan5 = manager.GetUserPosition(userID5);//-------------------------
if ((posPointMan5.z > scope_Z_bef) && (posPointMan5.z < scope_Z_aft) && (posPointMan5.x > scope_X_left) && (posPointMan5.x < scope_X_right))//z 前正 x 左 负 右 正
{
gbl_zhaodaoL = true;
userID_suoding = userID5;
}
}
if ((userID6 != 0))
{
posPointMan6 = manager.GetUserPosition(userID6);//-------------------------
if ((posPointMan6.z > scope_Z_bef) && (posPointMan6.z < scope_Z_aft) && (posPointMan6.x > scope_X_left) && (posPointMan6.x < scope_X_right))//z 前正 x 左 负 右 正
{
gbl_zhaodaoL = true;
userID_suoding = userID6;
}
}
}
//Vector2 posDepth;
if (gbl_zhaodaoL)
{
posPointManLeft = manager.GetUserPosition(userID_suoding);
if ((posPointManLeft.z > scope_Z_bef) && (posPointManLeft.z < scope_Z_aft) && (posPointManLeft.x > scope_X_left) && (posPointManLeft.x < scope_X_right))//z 前正 x 左 负 右 正
{
//gbl_zhaodaoL = true;
//userID_suoding = userID6;
}
else
{
gbl_zhaodaoL = false; //找到的离开了区域 重新找
userID_suoding = 0;
}
pp = manager.GetBodyIndexByUserId(userID_suoding);
sd_userID = userID_suoding;
}
}
else
{
userID1 = 0;
userID2 = 0;
userID3 = 0;
userID4 = 0;
userID5 = 0;
userID6 = 0;
gbl_zhaodaoL = false; //找到的离开了区域 重新找 摄像机本身都没找到 重新找
userID_suoding = 0;
}
myIdesx = pp;//锁定人的IDex
rawDepthMap = sensorData.depthImage;//深度数据
for (int i = 0; i < depthImageHeight; i++)
{
for (int k = 0; k < depthImageWidth; k++)
{
int Didx = depthImageWidth * i + k;
//ushort userDepth = sensorData.depthImage[Didx]; //
ushort userMap = sensorData.bodyIndexImage[depthImageWidth * i + k];//
Depthcolors[depthImageWidth * i + k] = Color.clear;
float r = ((float)sensorData.depthImage[depthImageWidth * i + k]) / 8000;
float g = ((float)sensorData.depthImage[depthImageWidth * i + k]) / 8000;
float b = ((float)sensorData.depthImage[depthImageWidth * i + k]) / 8000;
Color tempColor = new Color(r, g, b, 0);//------------透明度 0 其它不显示 只显示人
Depthcolors[depthImageWidth * i + k] = tempColor;
if(userMap!=255)//小绿人
{
ttt222 = (int)userMap & 0x07;
if(ttt222==myIdesx) //小绿人
{
Color tempColor1 = new Color(0, g, 0, 1);
Depthcolors[depthImageWidth * i + k] = tempColor1;
}
}
}
}
texture.SetPixels(Depthcolors);
texture.Apply();
objplan.GetComponent<MeshRenderer>().material.mainTexture = texture;//可以显示 扣出来的彩色图像 也可以显示深度图像--
userID_suodingA = userID_suoding;
}
}
}
}