【发布时间】：2020-01-02 21:05:37
【问题描述】：
我正在尝试从 RealSense 相机 D415 的深度值生成运行时地形。 我拿着相机试着为夏天做点什么。我之前在 Unity 中使用的网络摄像头从未超过网络摄像头，所以即使在浏览完所有示例场景后我也很迷茫。
我的地形是 500 x 500 x 40 使用实感 SDK 2.0 地形生成器代码在下面，它与 Perlin 噪声一起使用
using UnityEngine;
using Intel.RealSense;
/// <summary>
/// this script is made to test the new terrain in unity with intel realsense depth
/// </summary>
public class TerrainGenerator : MonoBehaviour {
public int depth = 40;
public int width = 500;
public int height = 500;
public float scale = 20f;
public float xOffset = 10;
public float yOffset = 10;
private DepthFrame depthFrame;
public bool scroll;
public float scrollSpeed;
private Pipeline pipe;
private void Start()
{
///
pipe = new Pipeline();
pipe.Start();
///
xOffset = Random.Range(0f, 9999f);
yOffset = Random.Range(0f, 9999f);
scroll = false;
scrollSpeed = 0;
}
void Update()
{
Terrain terrain = GetComponent<Terrain>();
terrain.terrainData = GenerateTerrain(terrain.terrainData);
if(scroll)
xOffset += Time.deltaTime * scrollSpeed;
}
TerrainData GenerateTerrain(TerrainData tData)
{
tData.heightmapResolution = width + 1;
tData.size = new Vector3(width, depth, height);
tData.SetHeights(0, 0, GenerateHeights());
return tData;
}
float[,] GenerateHeights()
{
float[,] heights = new float[width, height];
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
//heights[x, y] = CalculateHeight(x, y);
var frames = pipe.WaitForFrames();
var depth = frames.DepthFrame;
heights[x, y] = depth.GetDistance(x, y);
}
}
return heights;
}
float CalculateHeight(int x, int y)
{
//float xCoord = (float)x / width * scale + xOffset;
//float yCoord = (float)y / height * scale + yOffset;
//return depthFrame.GetDistance(x,y);
//return Mathf.PerlinNoise(xCoord, yCoord);
using (var frames = pipe.WaitForFrames())
using (var depth = frames.DepthFrame)
return depth.GetDistance(x, y);
}
}
我正在寻找有关如何正确初始化相机深度的一些指导。我之前从未在 Unity 中使用过相机。
【问题讨论】：