I can't connect to RealSense 515L from Unity.

[vertex798]

• Before opening a new issue, we wanted to provide you with some useful suggestions (Click "Preview" above for a better view):

  • Consider checking out SDK examples.
  • Have you looked in our documentations?
  • Is you question a frequently asked one?
  • Try searching our GitHub Issues (open and closed) for a similar issue.

• All users are welcomed to report bugs, ask questions, suggest or request enhancements and generally feel free to open new issue, even if they haven't followed any of the suggestions above :)

---

Required Info
Camera Model	{ 515 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	Win 10
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC
SDK Version	2.0
Language	unity }
Segment	others

Issue Description

<Describe your issue / question / feature request / etc..>

I can't connect to RealSense 515L from Unity. In the current RealSense View, it has been confirmed that the sensor is operating normally.

However, after importing the Unity package file from the Unity project (Unity 2020.1.0f1) and executing the StartHere scene file, the following message appears.

When importing the Unity package file for the first time, the following error message occurred, I solved it by commenting out the part.

The full text of the commented code is:

`using System.Collections; using System.Collections.Generic; using Intel.RealSense; using UnityEngine; using UnityEngine.Events; using UnityEngine.Rendering; using UnityEngine.XR;

public class RsARBackgroundRenderer : MonoBehaviour { public RsFrameProvider Source; public Material material; private Camera cam; //private ARBackgroundRenderer bg; private Intrinsics intrinsics; private RenderTexture rt; Vector2Int screenSize;

IEnumerator Start()
{
    yield return new WaitUntil(() => Source && Source.Streaming);

    using (var profile = Source.ActiveProfile.GetStream<VideoStreamProfile>(Stream.Color))
    {
        intrinsics = profile.GetIntrinsics();
    }

    cam = GetComponent<Camera>();

    //bg = new ARBackgroundRenderer()
    //{
    //    backgroundMaterial = material,
    //    mode = ARRenderMode.MaterialAsBackground,
    //    backgroundTexture = material.mainTexture
    //};

    cam.depthTextureMode |= DepthTextureMode.Depth;

    // Uses the same material as above to update camera's depth texture
    // Unity will use it when calculating shadows
    var updateCamDepthTexture = new CommandBuffer() { name = "UpdateDepthTexture" };
    updateCamDepthTexture.Blit(BuiltinRenderTextureType.None, BuiltinRenderTextureType.CurrentActive, material);
    updateCamDepthTexture.SetGlobalTexture("_ShadowMapTexture", Texture2D.whiteTexture);
    cam.AddCommandBuffer(CameraEvent.AfterDepthTexture, updateCamDepthTexture);

    // assume single directional light
    var light = FindObjectOfType<Light>();

    // Copy resulting screenspace shadow map, ARBackgroundRenderer's material will multiply it over color image
    var copyScreenSpaceShadow = new CommandBuffer { name = "CopyScreenSpaceShadow" };
    int shadowCopyId = Shader.PropertyToID("_ShadowMapTexture");
    copyScreenSpaceShadow.GetTemporaryRT(shadowCopyId, -1, -1, 0);
    copyScreenSpaceShadow.CopyTexture(BuiltinRenderTextureType.CurrentActive, shadowCopyId);
    copyScreenSpaceShadow.SetGlobalTexture(shadowCopyId, shadowCopyId);
    light.AddCommandBuffer(LightEvent.AfterScreenspaceMask, copyScreenSpaceShadow);
}

//void OnEnable()
//{
//    if (bg != null)
//        bg.mode = ARRenderMode.MaterialAsBackground;
//}

//void OnDisable()
//{
//    if (bg != null)
//        bg.mode = ARRenderMode.StandardBackground;
//}

void Update()
{
    if (cam == null)
        return;

    var s = new Vector2Int(Screen.width, Screen.height);
    if (screenSize != s)
    {
        screenSize = s;

        var projectionMatrix = new Matrix4x4
        {
            m00 = intrinsics.fx,
            m11 = -intrinsics.fy,
            m03 = intrinsics.ppx / intrinsics.width,
            m13 = intrinsics.ppy / intrinsics.height,
            m22 = (cam.nearClipPlane + cam.farClipPlane) * 0.5f,
            m23 = cam.nearClipPlane * cam.farClipPlane,
        };
        float r = (float)intrinsics.width / Screen.width;
        projectionMatrix = Matrix4x4.Ortho(0, Screen.width * r, Screen.height * r, 0, cam.nearClipPlane, cam.farClipPlane) * projectionMatrix;
        projectionMatrix.m32 = -1;

        cam.projectionMatrix = projectionMatrix;
    }

    // if (Input.GetMouseButtonDown(0))
    // Debug.Log(GetImagePoint(Input.mousePosition));
}

public Vector2Int GetImagePoint(Vector2 screenPos)
{
    var vp = (Vector2)Camera.main.ScreenToViewportPoint(screenPos);
    vp.y = 1f - vp.y;

    float sr = (float)Screen.width / Screen.height;
    float tr = (float)intrinsics.height / intrinsics.width;
    float sh = sr * tr;
    vp -= 0.5f * Vector2.one;
    vp.y /= sh;
    vp += 0.5f * Vector2.one;

    return new Vector2Int((int)(vp.x * intrinsics.width), (int)(vp.y * intrinsics.height));
}

} `

[ogoshen]

Looks like you're on a new version of Unity (2020)

Seems like the ARBackgroundRenderer has moved to a package: https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@3.1/api/UnityEngine.XR.ARFoundation.ARCameraBackground.html The two aren't compatible though, the older is still available in Unity 2019, if that's an option for you..

[vertex798]

@ogoshen thank you i used using UnityEngine.XR.ARFoundation

[RealSenseSupport]

Were you able to get things working?

*If we don’t hear from you in 7 days, this issue will be closed.