Kinect Offset muss genau bestimmt werden

VR Raumrekonstuktion/Assets/Mine/Test.unity → VR Raumrekonstuktion/Assets/Mine/RoomScanner.unity

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@@ -502,6 +567,14 @@ Prefab:
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       value: 3
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@@ -510,6 +583,134 @@ Transform:
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VR Raumrekonstuktion/Assets/Mine/Scripts/MeshTestScript.cs

@@ -1,17 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class MeshTestScript : MonoBehaviour {
-
-	// Use this for initialization
-	void Start () {
-		
-       
-	}
-	
-	// Update is called once per frame
-	void Update () {
-		
-	}
-}

VR Raumrekonstuktion/Assets/Mine/Scripts/MeshTestScript.cs.meta

@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: aef0a2e3a886c1846af70361bc345a4c
-timeCreated: 1519670221
-licenseType: Free
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VR Raumrekonstuktion/Assets/Mine/Scripts/PointCloudAggregator.cs

@@ -5,9 +5,11 @@ using Windows.Kinect;
 
 public class PointCloudAggregator : MonoBehaviour {
 
-    public float accuracy = 1000f;
+	public float accuracy = 1000f;
+	public float maxDistance = 15f;
 
 	public ParticleSystem _particleSystem;
+
 	private ParticleSystem.Particle[] particles;
 
 	// Kinectsensor foo
@@ -25,9 +27,14 @@ public class PointCloudAggregator : MonoBehaviour {
 	private Texture2D cameraTexture;
 	private Color[] cameraColor;
 
+	private Vector2 maxVals;
+	private Vector2 minVals;
+
 	Dictionary<Vector2Int, ColorHeight> data = new Dictionary<Vector2Int, ColorHeight>();
 
-	struct ColorHeight
+	Dictionary<Vector3, Color> data2 = new Dictionary<Vector3, Color>();
+
+	public struct ColorHeight
 	{
 		public float height;
 		public Color color;
@@ -51,14 +58,14 @@ public class PointCloudAggregator : MonoBehaviour {
 
 
 
-    void Start()
+	void Start()
 	{
 		_Sensor = KinectSensor.GetDefault();
 		if (_Sensor != null)
 		{
-            _MultiManager = GetComponent<MultiSourceManager>();
+			_MultiManager = GetComponent<MultiSourceManager>();
 			_Mapper = _Sensor.CoordinateMapper;
-            
+			
 			depthFrameDesc = _Sensor.DepthFrameSource.FrameDescription;
 			depthWidth = depthFrameDesc.Width;
 			depthHeight = depthFrameDesc.Height;
@@ -75,26 +82,41 @@ public class PointCloudAggregator : MonoBehaviour {
 
 			cameraColor = new Color[depthWidth * depthHeight];
 		}
+		maxVals = Vector2.negativeInfinity;
+		minVals = Vector2.positiveInfinity;
 	}
 	
 	// Update is called once per frame
 	void Update () {
 		if (Input.GetKeyDown(KeyCode.Space))
 		{
-            Debug.Log("Snapshot");
-			NewSnapshot();
+			Debug.Log("Snapshot");
+			NewSnapshot(true);
+			Debug.Log("Data set not has: " + data.Count + " entries");
 		}
+        if (Input.GetKeyDown(KeyCode.Y))
+        {
+            Debug.Log("Snapshot");
+            NewSnapshot(false);
+            Debug.Log("Data set not has: " + data.Count + " entries");
+        }
 
-		if (Input.GetKeyDown(KeyCode.A))
+        if (Input.GetKeyDown(KeyCode.C))
 		{
-            Debug.Log("Cloud!");
-            Debug.Log(data.Count);
-            ShowAsPointCloud();
+			Debug.Log("Cloud!");
+			Debug.Log(data.Count);
+			ShowAsPointCloud();
 		}
 
-	}
+        if (Input.GetKeyDown(KeyCode.A))
+        {
+            Debug.Log("Cloud2!");
+            Debug.Log(data.Count);
+            ShowAsPointCloud2();
+        }
+    }
 
-	void NewSnapshot()
+	void NewSnapshot(bool normal)
 	{
 		Vector3 currentPoint;
 		Vector2Int floorPosition;
@@ -105,32 +127,55 @@ public class PointCloudAggregator : MonoBehaviour {
 		_Mapper.MapDepthFrameToColorSpace(rawdata, colorSpacePoints);
 		for(int i = 0; i < cameraSpacePoints.Length; i++)
 		{
-            
-            
-
+			
 			currentPoint = KinectPointToVector3(cameraSpacePoints[i]);
-            currentPoint = transform.InverseTransformPoint(currentPoint);
-			floorPosition = new Vector2Int(Mathf.RoundToInt(currentPoint.x * (int)accuracy), Mathf.RoundToInt(currentPoint.z * (int)accuracy));
+			currentPoint = transform.InverseTransformPoint(currentPoint);
+
+			float x = (Mathf.Clamp(currentPoint.x, -maxDistance, maxDistance ));
+			float y = (Mathf.Clamp(currentPoint.z, -maxDistance, maxDistance ));
 
+			
 
+			
 
-            if (data.ContainsKey(floorPosition))
+			x *= accuracy;
+			y *= accuracy;
+
+			if(float.IsNaN(x) || float.IsNaN(y))
+			{
+				continue;
+			}
+            
+			floorPosition = new Vector2Int(Mathf.RoundToInt(x),Mathf.RoundToInt(y));
+
+			minVals = Vector2.Min(floorPosition, minVals);
+			maxVals = Vector2.Max(floorPosition, maxVals);
+            if (!normal)
             {
-                ColorHeight values = data[floorPosition];
-                values.UpdateInfo(currentPoint.y, GetColorAtIndex(i));
-                data[floorPosition] = values;
+                data2[currentPoint] = GetColorAtIndex(i);
             }
             else
             {
-                data[floorPosition] = new ColorHeight(currentPoint.y, GetColorAtIndex(i));
+
+                if (data.ContainsKey(floorPosition))
+                {
+                    ColorHeight values = data[floorPosition];
+                    values.UpdateInfo(currentPoint.y, GetColorAtIndex(i));
+                    data[floorPosition] = values;
+                }
+                else
+                {
+
+                    data[floorPosition] = new ColorHeight(currentPoint.y, GetColorAtIndex(i));
+                }
             }
+		}
 
-        }
-    }
+	}
 
 	Vector3 KinectPointToVector3(CameraSpacePoint point)
 	{
-		return new Vector3(-point.X, point.Y, point.Z);
+		return new Vector3(point.X, point.Y, point.Z);
 	}
 
 	Color GetColorAtIndex(int index)
@@ -143,17 +188,33 @@ public class PointCloudAggregator : MonoBehaviour {
 	{
 		ColorHeight colorHeight;
 		particles = new ParticleSystem.Particle[data.Count];    
-        
-        int i = 0;
+		
+		int i = 0;
 		foreach(Vector2Int floorPos in data.Keys)
 		{
 			colorHeight = data[floorPos];
 
 			particles[i].position = new Vector3((float)floorPos.x/accuracy, (float)colorHeight.height, (float)floorPos.y/ accuracy);
 			particles[i].startColor = colorHeight.color;
-            particles[i].startSize = 0.02f;
+			particles[i].startSize = 0.02f;
 			i++;
 		}
+		_particleSystem.SetParticles(particles, particles.Length);
+	}
+
+
+    void ShowAsPointCloud2()
+    {
+        particles = new ParticleSystem.Particle[data2.Count];
+
+        int i = 0;
+        foreach (Vector3 pos in data2.Keys)
+        {
+            particles[i].position = pos;
+            particles[i].startColor = data2[pos];
+            particles[i].startSize = 0.02f;
+            i++;
+        }
         _particleSystem.SetParticles(particles, particles.Length);
     }
 

VR Raumrekonstuktion/ProjectSettings/UnityAdsSettings.asset

@@ -1,11 +0,0 @@
-%YAML 1.1
-%TAG !u! tag:unity3d.com,2011:
---- !u!292 &1
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-  m_Enabled: 0
-  m_InitializeOnStartup: 1
-  m_TestMode: 0
-  m_EnabledPlatforms: 4294967295
-  m_IosGameId: 
-  m_AndroidGameId: 

VR Raumrekonstuktion/ProjectSettings/UnityConnectSettings.asset

@@ -10,6 +10,7 @@ UnityConnectSettings:
   m_TestInitMode: 0
   CrashReportingSettings:
     m_EventUrl: https://perf-events.cloud.unity3d.com/api/events/crashes
+    m_NativeEventUrl: https://perf-events.cloud.unity3d.com/symbolicate
     m_Enabled: 0
     m_CaptureEditorExceptions: 1
   UnityPurchasingSettings:
@@ -25,8 +26,9 @@ UnityConnectSettings:
     m_Enabled: 0
     m_InitializeOnStartup: 1
     m_TestMode: 0
-    m_EnabledPlatforms: 4294967295
     m_IosGameId: 
     m_AndroidGameId: 
+    m_GameIds: {}
+    m_GameId: 
   PerformanceReportingSettings:
     m_Enabled: 0