Merge pull request #153 from dli7319/depthmesh

DepthMesh: Add ignore edge pixels option.

Author: dli7319

src/depth/DepthMesh.ts

@@ -55,7 +55,29 @@ export class DepthMesh extends MeshScript {
     private depthTextures?: DepthTextures
   ) {
     const options = depthOptions.depthMesh;
-    const geometry = new THREE.PlaneGeometry(1, 1, 159, 159);
+    const depthResolution = options.depthFullResolution;
+    const ignoreEdgePixels = options.ignoreEdgePixels;
+    const activeRes = Math.max(2, depthResolution - 2 * ignoreEdgePixels);
+    const geometry = new THREE.PlaneGeometry(
+      1,
+      1,
+      activeRes - 1,
+      activeRes - 1
+    );
+
+    const minU = ignoreEdgePixels / (depthResolution - 1);
+    const maxU =
+      (depthResolution - 1 - ignoreEdgePixels) / (depthResolution - 1);
+    const minV = ignoreEdgePixels / (depthResolution - 1);
+    const maxV =
+      (depthResolution - 1 - ignoreEdgePixels) / (depthResolution - 1);
+
+    const uvs = geometry.attributes.uv.array;
+    for (let i = 0; i < uvs.length; i += 2) {
+      uvs[i] = minU + uvs[i] * (maxU - minU);
+      uvs[i + 1] = minV + uvs[i + 1] * (maxV - minV);
+    }
+
     let material: THREE.Material;
     let uniforms;
     if (options.useDepthTexture || options.showDebugTexture) {
@@ -101,6 +123,11 @@ export class DepthMesh extends MeshScript {
     // Create a downsampled geometry for raycasts and physics.
     if (options.useDownsampledGeometry) {
       this.downsampledGeometry = new THREE.PlaneGeometry(1, 1, 39, 39);
+      const dsUvs = this.downsampledGeometry.attributes.uv.array;
+      for (let i = 0; i < dsUvs.length; i += 2) {
+        dsUvs[i] = minU + dsUvs[i] * (maxU - minU);
+        dsUvs[i + 1] = minV + dsUvs[i + 1] * (maxV - minV);
+      }
       this.downsampledMesh = new THREE.Mesh(this.downsampledGeometry, material);
       this.downsampledMesh.visible = false;
       this.add(this.downsampledMesh);
@@ -290,8 +317,8 @@ export class DepthMesh extends MeshScript {
       const v = geometry.attributes.uv.array[2 * i + 1];
 
       // Grabs the nearest for now.
-      const depthX = Math.round(clamp(u * width, 0, width - 1));
-      const depthY = Math.round(clamp((1.0 - v) * height, 0, height - 1));
+      const depthX = Math.round(clamp(u * (width - 1), 0, width - 1));
+      const depthY = Math.round(clamp((1.0 - v) * (height - 1), 0, height - 1));
       const rawDepth = depthArray[depthY * width + depthX];
       let depth = depthData.rawValueToMeters * rawDepth;
 

src/depth/DepthOptions.ts

@@ -18,6 +18,8 @@ export class DepthMeshOptions {
   // Whether to always update the full resolution geometry.
   updateFullResolutionGeometry = false;
   colliderUpdateFps = 5;
+  depthFullResolution = 160;
+  ignoreEdgePixels = 3;
 }
 
 export class DepthOptions {