From 53466a35b8cf1db191d04a8bdd11f4dda3427a02 Mon Sep 17 00:00:00 2001
From: petpetpeter <55285546+petpetpeter@users.noreply.github.com>
Date: Sat, 5 Jun 2021 12:05:47 +0900
Subject: [PATCH 1/5] Add files via upload

---
 .../Scripts/RawPointCloudGenerator.cs         | 271 ++++++++++++++++++
 .../Scripts/RawPointCloudGenerator.cs.meta    |  11 +
 2 files changed, 282 insertions(+)
 create mode 100644 Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs
 create mode 100644 Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta

diff --git a/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs
new file mode 100644
index 0000000..4c4daef
--- /dev/null
+++ b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs
@@ -0,0 +1,271 @@
+//-----------------------------------------------------------------------
+// <copyright file="PointCloudGenerator.cs" company="Google LLC">
+//
+// Copyright 2020 Google LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// </copyright>
+//-----------------------------------------------------------------------
+
+using System;
+using System.Collections.Generic;
+using GoogleARCore;
+using UnityEngine;
+using UnityEngine.UI;
+/// <summary>
+/// Computes a point cloud from the depth map on the CPU.
+/// </summary>
+public class RawPointCloudGenerator : MonoBehaviour
+{
+    /// <summary>
+    /// Type of depth texture to attach to the material.
+    /// </summary>
+    public bool UseRawDepth = false;
+
+    private const float _maxVisualizationDistanceM = 7;
+    private const float _minVisualizationDistanceM = 0.4f;
+    private bool _initialized;
+    private CameraIntrinsics _cameraIntrinsics;
+    private Mesh _mesh;
+
+
+    //From Blender//
+    // Limit the number of points to bound the performance cost of rendering the point cloud.
+    private const int _maxVerticesInBuffer = 1000000;
+    private const double _maxUpdateInvervalInSeconds = 0.5f;
+    private const double _minUpdateInvervalInSeconds = 0.07f;
+    //private static readonly string _confidenceThresholdPropertyName = "_ConfidenceThreshold";
+   
+
+    private Vector3[] _vertices = new Vector3[_maxVerticesInBuffer];
+    private int _verticesCount = 0;
+    private int _verticesIndex = 0;
+    private int[] _indices = new int[_maxVerticesInBuffer];
+    private Color32[] _colors = new Color32[_maxVerticesInBuffer];
+
+    // Buffers that store the color camera image (in YUV420_888 format) each frame.
+    private byte[] _cameraBufferY;
+    private byte[] _cameraBufferU;
+    private byte[] _cameraBufferV;
+    private int _cameraHeight;
+    private int _cameraWidth;
+    private int _pixelStrideUV;
+    private int _rowStrideY;
+    private int _rowStrideUV;
+    private double _updateInvervalInSeconds = _minUpdateInvervalInSeconds;
+    private double _lastUpdateTimeSeconds;
+    private Material _pointCloudMaterial;
+    ///
+
+    /// <summary>
+    /// Computes 3D vertices from the depth map and creates a Mesh() object with the Point primitive
+    /// type. Each point differently colored based on a depth color ramp.
+    /// </summary>
+    
+    public void UpdateRawPointCloud()
+    {
+        // Exits when ARCore is not ready.
+        if (!_initialized || _cameraBufferY == null)
+        {
+            return;
+        }
+
+        // Exits if updating the point cloud too frequently for better performance.
+        if (Time.realtimeSinceStartup - _lastUpdateTimeSeconds < _updateInvervalInSeconds)
+        {
+            return;
+        }
+
+
+        Reset(); //Clear previously create pointcloud
+        //_pointCloudMaterial.SetFloat(_confidenceThresholdPropertyName, ConfidenceSlider.value);
+
+        // Color and depth images usually have different aspect ratios. The depth image corresponds
+        // to the region of the camera image that is center-cropped to the depth aspect ratio.
+        float depthAspectRatio = (float)DepthSource.DepthHeight / DepthSource.DepthWidth;
+        int colorHeightDepthAspectRatio = (int)(_cameraWidth * depthAspectRatio);
+        int colorHeightOffset = (_cameraHeight - colorHeightDepthAspectRatio) / 2;
+
+        // Creates point clouds from the depth map.
+        for (int y = 0; y < DepthSource.DepthHeight; y++)
+        {
+            for (int x = 0; x < DepthSource.DepthWidth; x++)
+            {
+                int depthIndex = (y * DepthSource.DepthWidth) + x;
+                float depthInM = (UseRawDepth ? DepthSource.RawDepthArray[depthIndex] :
+                    DepthSource.DepthArray[depthIndex]) * DepthSource.MillimeterToMeter;
+                float confidence = DepthSource.ConfidenceArray[depthIndex] / 255f;
+
+                // Ignore missing depth values to improve runtime performance.
+                if (depthInM == 0f || confidence == 0f)
+                {
+                    continue;
+                }
+
+                // Computes world-space coordinates.
+                Vector3 vertex = DepthSource.TransformVertexToWorldSpace(
+                    DepthSource.ComputeVertex(x, y, depthInM));
+
+
+                //Add Color
+                /*int colorX = x * _cameraWidth / DepthSource.DepthWidth;
+                int colorY = colorHeightOffset +
+                    (y * colorHeightDepthAspectRatio / DepthSource.DepthHeight);
+                int linearIndexY = (colorY * _rowStrideY) + colorX;
+                int linearIndexUV = ((colorY / 2) * _rowStrideUV) + ((colorX / 2) * _pixelStrideUV);
+
+                // Each channel value is an unsigned byte.
+                byte channelValueY = _cameraBufferY[linearIndexY];
+                byte channelValueU = _cameraBufferU[linearIndexUV];
+                byte channelValueV = _cameraBufferV[linearIndexUV];
+
+                byte[] rgb = ConvertYuvToRgb(channelValueY, channelValueU, channelValueV);
+                byte confidenceByte = (byte)(confidence * 255f);
+                Color32 color = new Color32(rgb[0], rgb[1], rgb[2], confidenceByte);*/
+                float depthRange = _maxVisualizationDistanceM - _minVisualizationDistanceM;
+                float normalizedDepth = (depthInM - _minVisualizationDistanceM) / depthRange;
+                Color32 color = ColorRampGenerator.Turbo(normalizedDepth);
+
+
+
+                if (_verticesCount < _maxVerticesInBuffer - 1)
+                {
+                    ++_verticesCount;
+                }
+
+                // Replaces old vertices in the buffer after reaching the maximum capacity.
+                if (_verticesIndex >= _maxVerticesInBuffer)
+                {
+                    _verticesIndex = 0;
+                }
+
+                _vertices[_verticesIndex] = vertex;
+                _colors[_verticesIndex] = color;
+                ++_verticesIndex;
+            }
+        }
+
+        if (_verticesCount == 0)
+        {
+            return;
+        }
+        
+        // Assigns graphical buffers.
+
+        _mesh.SetVertices(_vertices, 0, _verticesCount);
+        _mesh.SetIndices(_indices, 0, _verticesCount, MeshTopology.Points, 0);
+        _mesh.SetColors(_colors, 0, _verticesCount);
+        _mesh.RecalculateBounds();
+
+        MeshFilter meshFilter = GetComponent<MeshFilter>();
+        meshFilter.mesh = _mesh;
+        _lastUpdateTimeSeconds = Time.realtimeSinceStartup;
+    }
+
+    /// <summary>
+    /// Converts a new CPU image into byte buffers and caches to be accessed later.
+    /// </summary>
+    /// <param name="image">The new CPU image to process.</param>
+    private void OnImageAvailable(CameraImageBytes image)
+    {
+        // Initializes the camera buffer and the composited texture.
+        if (_cameraBufferY == null || _cameraBufferU == null || _cameraBufferV == null)
+        {
+            _cameraWidth = image.Width;
+            _cameraHeight = image.Height;
+            _rowStrideY = image.YRowStride;
+            _rowStrideUV = image.UVRowStride;
+            _pixelStrideUV = image.UVPixelStride;
+            _cameraBufferY = new byte[image.Width * image.Height];
+            _cameraBufferU = new byte[image.Width * image.Height];
+            _cameraBufferV = new byte[image.Width * image.Height];
+        }
+
+        // Copies raw data into managed camera buffer.
+        System.Runtime.InteropServices.Marshal.Copy(image.Y, _cameraBufferY, 0,
+            image.Height * image.YRowStride);
+        System.Runtime.InteropServices.Marshal.Copy(image.U, _cameraBufferU, 0,
+            image.Height * image.UVRowStride / 2);
+        System.Runtime.InteropServices.Marshal.Copy(image.V, _cameraBufferV, 0,
+            image.Height * image.UVRowStride / 2);
+    }
+
+    private byte[] ConvertYuvToRgb(byte y, byte u, byte v)
+    {
+        // See https://en.wikipedia.org/wiki/YUV.
+        float yFloat = y / 255.0f; // Range [0.0, 1.0].
+        float uFloat = (u * 0.872f / 255.0f) - 0.436f; // Range [-0.436, 0.436].
+        float vFloat = (v * 1.230f / 255.0f) - 0.615f; // Range [-0.615, 0.615].
+        float rFloat = Mathf.Clamp01(yFloat + (1.13983f * vFloat));
+        float gFloat = Mathf.Clamp01(yFloat - (0.39465f * uFloat) - (0.58060f * vFloat));
+        float bFloat = Mathf.Clamp01(yFloat + (2.03211f * uFloat));
+        byte r = (byte)(rFloat * 255f);
+        byte g = (byte)(gFloat * 255f);
+        byte b = (byte)(bFloat * 255f);
+        return new[] { r, g, b };
+    }
+
+    public void Reset()
+    {
+        _verticesCount = 0;
+        _verticesIndex = 0;
+    }
+
+    private void Start()
+    {
+        _mesh = new Mesh();
+        _mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
+        _pointCloudMaterial = GetComponent<Renderer>().material;
+
+        // Sets the index buffer.
+        for (int i = 0; i < _maxVerticesInBuffer; ++i)
+        {
+            _indices[i] = i;
+        }
+
+        Reset();
+    }
+
+    private void Update()
+    {
+        // Waits until Depth API is initialized.
+        if (!_initialized && DepthSource.Initialized)
+        {
+            _initialized = true;
+        }
+
+        if (DepthSource.NewRawDepthAvailable)
+        {
+            // Fetches CPU image.
+            using (var image = Frame.CameraImage.AcquireCameraImageBytes())
+            {
+                if (!image.IsAvailable)
+                {
+                    return;
+                }
+
+                OnImageAvailable(image);
+            }
+
+            //UpdateRawPointCloud();
+        }
+
+        /*transform.position = Camera.main.transform.forward * OffsetFromCamera;
+        float normalizedDeltaTime = Mathf.Clamp01(
+            (float)(Time.deltaTime - _minUpdateInvervalInSeconds));
+        _updateInvervalInSeconds = Mathf.Lerp((float)_minUpdateInvervalInSeconds,
+            (float)_maxUpdateInvervalInSeconds,
+            normalizedDeltaTime);*/
+    }
+}
diff --git a/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta
new file mode 100644
index 0000000..9492b63
--- /dev/null
+++ b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta
@@ -0,0 +1,11 @@
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From f0b373804f842e157e3d1c915bc108a929f6b6d9 Mon Sep 17 00:00:00 2001
From: petpetpeter <55285546+petpetpeter@users.noreply.github.com>
Date: Sat, 5 Jun 2021 12:07:07 +0900
Subject: [PATCH 2/5] Add files via upload

---
 .../Scenes/PointCloudWithRawDepth.unity       | 621 ++++++++++++++++++
 .../Scenes/PointCloudWithRawDepth.unity.meta  |   7 +
 2 files changed, 628 insertions(+)
 create mode 100644 Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
 create mode 100644 Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta

diff --git a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
new file mode 100644
index 0000000..cbfd53f
--- /dev/null
+++ b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
@@ -0,0 +1,621 @@
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diff --git a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta
new file mode 100644
index 0000000..e234f39
--- /dev/null
+++ b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta
@@ -0,0 +1,7 @@
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From d8a56b4d2794d9a3de033476b41ecc11519f5d7d Mon Sep 17 00:00:00 2001
From: petpetpeter <chana.pol.peter@gmail.com>
Date: Sat, 12 Jun 2021 11:59:34 +0900
Subject: [PATCH 3/5] Change Script Reference

---
 .../PointCloud/Scenes/PointCloudWithRawDepth.unity              | 2 +-
 .../PointCloud/Scenes/PointCloudWithRawDepth.unity.meta         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
index cbfd53f..2c00570 100644
--- a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
+++ b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
@@ -197,7 +197,7 @@ MonoBehaviour:
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-  m_Script: {fileID: 11500000, guid: 91a2c44af012e4c02ac317054e2838bb, type: 3}
+  m_Script: {fileID: 11500000, guid: b967b52f7d77f5f41804d82bd82271ea, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
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diff --git a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta
index e234f39..eca6e06 100644
--- a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta
+++ b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity.meta
@@ -1,5 +1,5 @@
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+guid: 275c3cbd6d1ab6c4ea896228f281bf00
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From 3b72f3d9f70975df8b3d36f741d4eac69506a4ed Mon Sep 17 00:00:00 2001
From: petpetpeter <chana.pol.peter@gmail.com>
Date: Sat, 12 Jun 2021 12:18:20 +0900
Subject: [PATCH 4/5] Update Referencing

---
 .../PointCloud/Scenes/PointCloudWithRawDepth.unity              | 2 +-
 .../PointCloud/Scripts/PointCloudGenerator.cs.meta              | 2 +-
 .../PointCloud/Scripts/RawPointCloudGenerator.cs.meta           | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
index 2c00570..8839de1 100644
--- a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
+++ b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloudWithRawDepth.unity
@@ -197,7 +197,7 @@ MonoBehaviour:
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-  m_Script: {fileID: 11500000, guid: b967b52f7d77f5f41804d82bd82271ea, type: 3}
+  m_Script: {fileID: 11500000, guid: 79e874a0ad35b9d418b287356194f877, type: 3}
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diff --git a/Assets/ARRealismDemos/PointCloud/Scripts/PointCloudGenerator.cs.meta b/Assets/ARRealismDemos/PointCloud/Scripts/PointCloudGenerator.cs.meta
index 642b400..030fcfe 100644
--- a/Assets/ARRealismDemos/PointCloud/Scripts/PointCloudGenerator.cs.meta
+++ b/Assets/ARRealismDemos/PointCloud/Scripts/PointCloudGenerator.cs.meta
@@ -1,5 +1,5 @@
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diff --git a/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta
index 9492b63..dab4202 100644
--- a/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta
+++ b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs.meta
@@ -1,5 +1,5 @@
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From 5d2f4604553d9bfc27ec0db678645a06b4e077f1 Mon Sep 17 00:00:00 2001
From: petpetpeter <chana.pol.peter@gmail.com>
Date: Sat, 12 Jun 2021 12:46:51 +0900
Subject: [PATCH 5/5] only ignore 0 confidence pixel in Raw Depth Mode

---
 Assets/ARRealismDemos/PointCloud/Scenes/PointCloud.unity      | 4 ++--
 .../PointCloud/Scripts/RawPointCloudGenerator.cs              | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloud.unity b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloud.unity
index 2d78e7c..e565240 100644
--- a/Assets/ARRealismDemos/PointCloud/Scenes/PointCloud.unity
+++ b/Assets/ARRealismDemos/PointCloud/Scenes/PointCloud.unity
@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1}
+  m_IndirectSpecularColor: {r: 0.37311953, g: 0.38074014, b: 0.3587274, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -196,7 +196,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 128069680}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 91a2c44af012e4c02ac317054e2838bb, type: 3}
+  m_Script: {fileID: 11500000, guid: 4ddbac5279728a64bb6a44ffbd13f993, type: 3}
   m_Name: 
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diff --git a/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs
index 4c4daef..47c4e9f 100644
--- a/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs
+++ b/Assets/ARRealismDemos/PointCloud/Scripts/RawPointCloudGenerator.cs
@@ -107,8 +107,8 @@ public void UpdateRawPointCloud()
                     DepthSource.DepthArray[depthIndex]) * DepthSource.MillimeterToMeter;
                 float confidence = DepthSource.ConfidenceArray[depthIndex] / 255f;
 
-                // Ignore missing depth values to improve runtime performance.
-                if (depthInM == 0f || confidence == 0f)
+                // Ignore missing depth values to improve runtime performance. //Only for raw depth
+                if ((depthInM == 0f || confidence == 0f) && UseRawDepth)
                 {
                     continue;
                 }