Render PointCloud in Unity using SoftwareDevice

[ghost]

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Required Info
Camera Model	{ L515 }
Firmware Version	01.05.05.00
Operating System & Version	Win 10
Platform	PC
SDK Version	2.47.0
Language	Unity

I have setup a SoftwareDevice that receives raw depth and color frames over the network and uses a modified event system of the RealSense PointCloudColorAndDepth sample provided as part of the RealSense package. I'm able to receive the frames and render the pointcloud but the color texture does not get applied on to the pointcloud. The UV map field of the PointCloudGeom shader does not update (is black). Can someone please point me in the right direction?

Image attached for reference :

[MartyG-RealSense]

Hi @abhijaysingh In the link below, a RealSense Unity user also had a problem with getting the point cloud to display correctly on an adaptation of the PointCloudDepthAndColor sample scene. They found that changing the selected shader on PointCloudMat from 'Custom/PointCloudGeom' to the Custom/Pointcloud shader resolved the problem.

#4155 (comment)

[ghost]

Hi @MartyG-RealSense Thanks for the swift response. I had tried changing the shader earlier as well but the issue persists. The UV Map field is black even with the shader set to Custom/PointCloud. Is it something related to loading the raw texture data from Points (https://github.com/IntelRealSense/librealsense/blob/master/wrappers/csharp/Intel.RealSense/Frames/Points.cs)?

[MartyG-RealSense]

In the RealSense Unity wrapper, camera data is converted into a mat so that it can be rendered. I can see in the PointCloudMat panel of the Inspector that a color image is being received.

I find that in Unity, if a texture will not display correctly then simply selecting Unity's default Standard shader from the shader list will often render it. Have you tried Standard, please?

[ghost]

Thank you, @MartyG-RealSense! It worked but the texture has a blue tint to it and the texture coordinates are not right.

I require exact depth to texture mapping for the application and the Standard shader doesn't map the UV to texture coords.

[MartyG-RealSense]

Are you able to achieve depth-color alignment if you add an RsAlign component to your point cloud project if you are not using one already, like in the recent RealSense Unity wrapper pointcloud align project in the link below?

#9263 (comment)

[ghost]

It's working!

Thanks a lot @MartyG-RealSense!!

[MartyG-RealSense]

That's great news @abhijaysingh - you are very welcome :)