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80 lines
2.2 KiB
80 lines
2.2 KiB
using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using Intel.RealSense;
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using UnityEngine;
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[ProcessingBlockData(typeof(DepthCutoff))]
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public class DepthCutoff : RsProcessingBlock
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{
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public ushort Distance = 1000;
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ushort[] depthData;
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void OnDisable()
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{
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depthData = null;
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}
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Frame ApplyFilter(DepthFrame depth, FrameSource frameSource)
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{
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using (var p = depth.Profile)
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{
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var count = depth.Width * depth.Height;
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if (depthData == null || depthData.Length != count)
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depthData = new ushort[count];
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depth.CopyTo(depthData);
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for (int i = 0; i < count; i++)
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{
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if (depthData[i] > Distance)
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depthData[i] = 0;
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}
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var v = frameSource.AllocateVideoFrame<DepthFrame>(p, depth, depth.BitsPerPixel, depth.Width, depth.Height, depth.Stride, Extension.DepthFrame);
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v.CopyFrom(depthData);
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return v;
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}
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}
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public override Frame Process(Frame frame, FrameSource frameSource)
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{
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if (frame.IsComposite)
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{
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using (var fs = FrameSet.FromFrame(frame))
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using (var depth = fs.DepthFrame)
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{
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var v = ApplyFilter(depth, frameSource);
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// return v;
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// find and remove the original depth frame
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var frames = new List<Frame>();
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foreach (var f in fs)
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{
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using (var p1 = f.Profile)
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if (p1.Stream == Stream.Depth && p1.Format == Format.Z16)
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{
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f.Dispose();
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continue;
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}
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frames.Add(f);
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}
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frames.Add(v);
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var res = frameSource.AllocateCompositeFrame(frames);
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frames.ForEach(f => f.Dispose());
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using (res)
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return res.AsFrame();
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}
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}
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if (frame is DepthFrame)
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return ApplyFilter(frame as DepthFrame, frameSource);
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return frame;
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}
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}
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