point cloud streaming (beyond proof-of-concept)

- third example with point cloud decoding
- use new NHVD interface
- updated readme

Related to:
#5

Assets/MouseRts.cs

@@ -4,9 +4,6 @@
 using UnityEngine;
 using UnityEngine.EventSystems;
 
-namespace Ev3devMapping
-{
-
 public class MouseRts : MonoBehaviour
 {
 	public int LevelArea = 100;
@@ -28,7 +25,10 @@ public class MouseRts : MonoBehaviour
 	public float TouchRotationMinMagSquared = 1f; 
 	public float TouchRotationMinAngle = 0.1f;
 
+	#if UNITY_STANDALONE
+	#else
     private bool touchRotating = false;
+	#endif
     private Vector2 touchRotationStart = Vector2.zero;
 
 	public float UpDownScale = 0.03f;
@@ -38,8 +38,6 @@ public class MouseRts : MonoBehaviour
 	public float TouchUpDownScale = 0.15f;
 	public float TouchRotateScale = 0.015f;
 	public float TouchMoveScale = 1f;
-
-
 	private float yrotation;
 
 	public void Start()
@@ -189,5 +187,3 @@ private Vector3 CameraMovement()
 		return move;
 	}
 }
-
-} //namespace

Assets/NHVD.cs

@@ -15,6 +15,15 @@
 
 public class NHVD
 {
+	[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
+	public struct nhvd_net_config
+	{
+		[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
+		public string ip;
+		public ushort port;
+		public int timeout_ms;
+	}
+
 	[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
 	public struct nhvd_hw_config
 	{
@@ -36,12 +45,13 @@ public struct nhvd_hw_config
 	}
 
 	[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
-	public struct nhvd_net_config
-	{
-		[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)]
-		public string ip;
-		public ushort port;
-		public int timeout_ms;
+	public struct nhvd_depth_config
+	{	
+		public float ppx;
+		public float ppy;
+		public float fx;    
+		public float fy;
+		public float depth_unit;
 	}
 
 	[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
@@ -71,12 +81,29 @@ public struct nhvd_point_cloud
 	/// Return Type: nhvd*
 	///net_config: nhvd_net_config*
 	///hw_config: nhvd_hw_config*
+	///depth_config: nhvd_depth_config*
 	#if (UNITY_IPHONE || UNITY_WEBGL) && !UNITY_EDITOR
 	[DllImport ("__Internal")]
 	#else
 	[DllImport ("nhvd")]
 	#endif
-	public static extern System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config) ;
+	public static extern System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config, ref nhvd_depth_config depth_config) ;
+
+	///Return Type: nhvd*
+	///net_config: nhvd_net_config*
+	///hw_config: nhvd_hw_config*
+	///depth_config: nhvd_depth_config*
+	#if (UNITY_IPHONE || UNITY_WEBGL) && !UNITY_EDITOR
+	[DllImport ("__Internal")]
+	#else
+	[DllImport ("nhvd")]
+	#endif
+	private static extern System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config, System.	IntPtr depth_config) ;
+
+	public static System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config) 
+	{
+		return nhvd_init(ref net_config, ref hw_config, System.IntPtr.Zero);
+	}
 
 	/// Return Type: void
 	///n: nhvd *
@@ -87,6 +114,26 @@ public struct nhvd_point_cloud
 	#endif
 	public static extern void nhvd_close(System.IntPtr n) ;
 
+	/// Return Type: int
+	///n: nhvd*
+	///frame: nhvd_frame*
+	///pc: nhvd_point_cloud*
+	#if (UNITY_IPHONE || UNITY_WEBGL) && !UNITY_EDITOR
+	[DllImport ("__Internal")]
+	#else
+	[DllImport ("nhvd")]
+	#endif
+	public static extern  int nhvd_get_begin(System.IntPtr n, ref nhvd_frame frame, ref nhvd_point_cloud pc) ;
+
+	/// Return Type: int
+	///n: nhvd *
+	#if (UNITY_IPHONE || UNITY_WEBGL) && !UNITY_EDITOR
+	[DllImport ("__Internal")]
+	#else
+	[DllImport ("nhvd")]
+	#endif
+	public static extern int nhvd_get_end(System.IntPtr n) ;
+
 	/// Return Type: int
 	///n: void*
 	///frame: nhvd_frame*

Assets/PointCloudRenderer.cs

@@ -13,62 +13,76 @@
 using UnityEngine;
 using Unity.Collections;
 using Unity.Collections.LowLevel.Unsafe;
+
+[RequireComponent(typeof(MeshFilter), typeof(MeshRenderer))]
 public class PointCloudRenderer : MonoBehaviour
 {
 	public string device = "/dev/dri/renderD128";
 	public string ip = "";
-	public ushort port = 9766;
+	public ushort port = 9768;
 
 	private IntPtr nhvd;
 	private NHVD.nhvd_frame frame = new NHVD.nhvd_frame{ data=new System.IntPtr[3], linesize=new int[3] };
 	private NHVD.nhvd_point_cloud point_cloud = new NHVD.nhvd_point_cloud {data = System.IntPtr.Zero, size=0, used=0};
 
-	const int MAX_VERTICES=848*480;
+	private Mesh mesh;
+
 	void Awake()
 	{
-		NHVD.nhvd_hw_config hw_config = new NHVD.nhvd_hw_config{hardware="vaapi", codec="hevc", device=this.device, pixel_format="p010le", width=848, height=480, profile=2};
 		NHVD.nhvd_net_config net_config = new NHVD.nhvd_net_config{ip=this.ip, port=this.port, timeout_ms=500 };
+		NHVD.nhvd_hw_config hw_config = new NHVD.nhvd_hw_config{hardware="vaapi", codec="hevc", device=this.device, pixel_format="p010le", width=848, height=480, profile=2};
+		NHVD.nhvd_depth_config depth_config = new NHVD.nhvd_depth_config{ppx = 421.353f, ppy=240.93f, fx=426.768f, fy=426.768f, depth_unit = 0.0001f };
 
-		nhvd=NHVD.nhvd_init (ref net_config, ref hw_config);
+		nhvd=NHVD.nhvd_init (ref net_config, ref hw_config, ref depth_config);
 
 		if (nhvd == IntPtr.Zero)
 		{
 			Debug.Log ("failed to initialize NHVD");
 			gameObject.SetActive (false);
-		}
+		}		
+	}
+	void OnDestroy()
+	{
+		NHVD.nhvd_close (nhvd);
+	}
 
-		Mesh mesh = GetComponent<MeshFilter>().mesh;
-		mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
-
-		Vector3[] vertices = new Vector3[MAX_VERTICES];
+	private void PrepareMesh(int size)
+	{
+		if(mesh == null)
+			mesh = new Mesh();
 
-		for(int i=0;i<MAX_VERTICES;i++)
-			vertices[i] = new Vector3(i/1000f, i/1000f, i/1000f);
-		mesh.vertices = vertices;
+		if(mesh.vertexCount == size)
+			return;
 
+		mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
+		Vector3[] vertices = new Vector3[size];
+		for(int i=0;i<size;i++)
+			vertices[i] = new Vector3();
+		mesh.vertices = vertices;
 
-		int[] indices = new int[MAX_VERTICES];
-		for(int i=0;i<MAX_VERTICES;++i)
+		int[] indices = new int[size];
+		for(int i=0;i<size;++i)
 			indices[i] = i;
 		mesh.SetIndices(indices, MeshTopology.Points,0);
 
+		//we don't want to recalculate bounds for half million dynamic points so just set wide bounds
+		mesh.bounds = new Bounds(new Vector3(0, 0, 0), new Vector3(10, 10, 10));
+
+		GetComponent<MeshFilter>().mesh = mesh;
 	}
-	void OnDestroy()
-	{
-		NHVD.nhvd_close (nhvd);
-	}
-	NativeArray<Vector3> pc;
+
 	void LateUpdate ()
 	{
 		if (NHVD.nhvd_get_point_cloud_begin(nhvd, ref point_cloud) == 0)
 		{
+			PrepareMesh(point_cloud.size);
+
+			//possible optimization - only render non-zero points (point_cloud.used)
 			unsafe
 			{
-				pc = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray<Vector3>(point_cloud.data.ToPointer(), point_cloud.size, Allocator.None);
+				NativeArray<Vector3> pc = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray<Vector3>(point_cloud.data.ToPointer(), point_cloud.size, Allocator.None);
 				NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref pc, AtomicSafetyHandle.Create());
-				int points = Math.Min(MAX_VERTICES, point_cloud.size);
-
-				GetComponent<MeshFilter>().mesh.SetVertices(pc, 0, points);
+				mesh.SetVertices(pc, 0, point_cloud.size);
 			}
 		}