Unity display Kinect depth data

Unity Show Kinect Depth data

1. Create display graphic objects

1.1 establish RawImage object

1.2 Create materials

Set to the following parameters , Set it to unlit-transparent Make transparent display

2. Create fields

    public MultiSourceManager mMultiSource;
    public Texture2D mDepthTexture;// Depth texture 

    // Depth data 
    private ushort[] mDepthData = null;//MultiSource Manager Output depth data content 
    private CameraSpacePoint[] mCameraSpacePoint = null;
    private ColorSpacePoint[] mColorSpacePoints = null;

    //Kinect
    private KinectSensor mSensor = null;
    private CoordinateMapper mMapper = null;// Mapper 

    // The resolution of depth data is 512*424
    private readonly Vector2 mDepthResolution = new Vector2(512, 424);

3. Awake

private void Awake()
    {
        mSensor = KinectSensor.GetDefault();// obtain Kinect sensor 
        mMapper = mSensor.CoordinateMapper;// Get coordinate mapper 

        int arraySize = (int)(mDepthResolution.x * mDepthResolution.y);// Depth data resolution 

        // Create new spatial points according to the resolution of the depth data 
        mCameraSpacePoint = new CameraSpacePoint[arraySize];
        mColorSpacePoints = new ColorSpacePoint[arraySize];
    }

4. Update

    private void Update()
    {
        if (Input.GetKeyDown(KeyCode.Space))// Determine whether to press the space 
        {
            // Press the space to map the depth image to the color space 
            DepthToColor();
            mDepthTexture = CreateTexture();// Get new texture 
        }
    }

5. Create a new texture

    /// <summary>
    ///  Create a new texture 
    /// </summary>
    /// <returns></returns>
    private Texture2D CreateTexture()
    {
        Texture2D newTexture = new Texture2D(1920, 1080, TextureFormat.Alpha8, false);//RGB Camera output 1920*1080 Pixel image ,alpha8 So that we can see transparent pictures 
        
        // Traverse all pixels to clear the initial texture 
        for (int x = 0; x < 1920; x++)
        {
            for (int y = 0; y < 1080; y++)
            {
                newTexture.SetPixel(x, y, Color.clear);
            }
        }
        // Traverse all pixels and set new colors for them 
        foreach (ColorSpacePoint point in mColorSpacePoints)// Traverse all pixels and set new colors for them 
        {
            newTexture.SetPixel((int)point.X, (int)point.Y, Color.black);

        }
        newTexture.Apply();// Apply a new texture 
        return newTexture;
    }

6. Depth data is mapped to color space

	/// <summary>
    ///  Get camera space points and color space points 
    /// </summary>
    private void DepthToColor()
    {
        // Acquire depth image data , A set of data streams 
        mDepthData = mMultiSource.GetDepthData();

        // Map the image 
        mMapper.MapDepthFrameToCameraSpace(mDepthData, mCameraSpacePoint);// Map depth frames to camera space points 
        mMapper.MapDepthFrameToColorSpace(mDepthData, mColorSpacePoints);// Depth frames are mapped to color space points 
    }

After clearing the color image, the following depth data can be displayed .

Reference material ：https://youtu.be/ukN3Aq7oYro