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84 lines
2.2 KiB
84 lines
2.2 KiB
#define WIDTH 512
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#define HEIGHT 424
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#pragma kernel CSMain
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#include "UnityCG.cginc"
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RWStructuredBuffer<float4> kinect_motion_buffer;
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RWStructuredBuffer<float4> position_buffer;
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RWStructuredBuffer<float4> velocity_buffer;
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Texture2D<float> depth_high_texture;
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Texture2D<float> depth_low_texture;
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Texture2D<float2> velocity_texture;
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float4x4 kinect_matrix;
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float clip;
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float3 clip_box;
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[numthreads(32, 32, 1)]
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void CSMain(uint3 id : SV_DispatchThreadID)
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{
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int index = id.y * WIDTH + id.x;
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int high = (int)(depth_high_texture[id.xy].x * 255.0);
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int low = (int)(depth_low_texture[id.xy].x * 255.0);
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float depth = (float)((high << 8) + low) * 0.001;
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float2 vel = velocity_texture[id.xy].xy * 255.0 - 128.0;
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float pre_depth = kinect_motion_buffer[index].z;
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kinect_motion_buffer[index] = float4(vel, depth, pre_depth);
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///////////////////////////////////
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float2 img_size = float2(512.0, 424.0);
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float fovy = 60.0;
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float PI = UNITY_PI;
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float focal = img_size.y / 2.0 / tan(fovy / 2.0 * PI / 180.0);
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float2 vel2d = vel;
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float2 f_pos = float2(id.xy) + 0.5;
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float2 t_pos = f_pos + vel2d;
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float f_depth = pre_depth;
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float t_depth = depth;
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float3 flip = float3(1.0, -1.0, -1.0);
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float3 f_vec = float3((f_pos - 0.5 * img_size) / focal, -1.0) * flip;
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float3 t_vec = float3((t_pos - 0.5 * img_size) / focal, -1.0) * flip;
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float3 f_p3d = float3(f_vec * f_depth);
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float3 t_p3d = float3(t_vec * t_depth);
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float3 vel3d = t_p3d - f_p3d;
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float depth_diff_threshold = 0.14;
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float cam_dot_threshold = 0.955;
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if (f_depth == 0.0 || t_depth == 0.0 || abs(f_depth - t_depth) > depth_diff_threshold)
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{
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f_p3d = float3(0, 0, 0);
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vel3d = float3(0, 0, 0);
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}
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else if (abs(dot(normalize(vel3d), normalize(f_vec))) > cam_dot_threshold)
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{
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f_p3d = float3(0, 0, 0);
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vel3d = float3(0, 0, 0);
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}
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float3 kpos = mul(kinect_matrix, float4(t_p3d, 1.0)).xyz;
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float3 kvel = mul(kinect_matrix, float4(vel3d, 0.0)).xyz;
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if ((kpos.x < -clip_box.x * 0.5 || kpos.x > clip_box.x * 0.5 ||
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kpos.z < -clip_box.z * 0.5 || kpos.z > clip_box.z * 0.5 ||
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kpos.y < 0.0 || kpos.y > clip_box.y) && clip > 0.5)
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{
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kpos = float3(0, 0, 0);
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kvel = float3(0, 0, 0);
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}
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position_buffer[index] = float4(kpos, 1.0);
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velocity_buffer[index] = float4(kvel, 0.0);
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}
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