Added RpcFunctions

- Added RpcFunction.cs with init static functions
 - Extend BlendShaderController for getting needed data
 - Added CrpcExtensions for server api

Assets/Scenes/MainScene.unity

@@ -252,7 +252,7 @@ PrefabInstance:
     - target: {fileID: 919132149155446097, guid: cadef6a45e22b304aafd4c21eb84340f,
         type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 919132149155446097, guid: cadef6a45e22b304aafd4c21eb84340f,
         type: 3}
@@ -658,7 +658,7 @@ Transform:
   m_GameObject: {fileID: 365053774}
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0.12557845, y: 0.64992166, z: -10.212498}
+  m_LocalPosition: {x: 0.37, y: -9.73, z: -0.46}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
@@ -748,7 +748,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!4 &409312061
 Transform:
   m_ObjectHideFlags: 0
@@ -1424,7 +1424,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   FrameRes: 256
-  Offset: 0.02
+  Offset: -0.07
   texture2D: {fileID: 0}
 --- !u!1 &686694433
 GameObject:
@@ -1444,7 +1444,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &686694434
 RectTransform:
   m_ObjectHideFlags: 0
@@ -1591,6 +1591,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   testDistance: 0.08
   DepthShader: {fileID: 4800000, guid: 38575fbac906d53499789597d61d2fa4, type: 3}
+  depthMaterial: {fileID: 0}
   BlendShader: {fileID: 7200000, guid: 5bf2857e309eda648b826d75af82d1ab, type: 3}
   camera1: {fileID: 146129744}
   camera2: {fileID: 73635654}
@@ -1623,7 +1624,7 @@ MonoBehaviour:
   m_GameObject: {fileID: 763126624}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: c61b6ef6bca767e42a8ec8ea380a4ac6, type: 3}
+  m_Script: {fileID: 11500000, guid: b06971fce09a875489a2898f4f2cbaec, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
 --- !u!1 &858903265
@@ -1725,7 +1726,7 @@ Transform:
   m_GameObject: {fileID: 858903265}
   serializedVersion: 2
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 1.5}
+  m_LocalPosition: {x: 0, y: 0, z: 2}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
@@ -1748,7 +1749,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!114 &867358639
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2120,7 +2121,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &1682170431
 RectTransform:
   m_ObjectHideFlags: 0
@@ -2302,9 +2303,9 @@ RectTransform:
   m_Children: []
   m_Father: {fileID: 2034953397}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
-  m_AnchorMin: {x: 0.5, y: 0.5}
-  m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 0, y: -160}
+  m_AnchorMin: {x: 1, y: 0}
+  m_AnchorMax: {x: 1, y: 0}
+  m_AnchoredPosition: {x: -300, y: 200}
   m_SizeDelta: {x: 500, y: 300}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!1 &2034953393

Assets/Scripts/BlendShaderController.cs

@@ -6,6 +6,7 @@ using System.Linq;
 using System.Threading;
 using System.Threading.Tasks;
 using UnityEngine;
+using UnityEngine.Rendering;
 using UnityEngine.Rendering.Universal.Internal;
 using UnityEngine.UI;
 
@@ -18,6 +19,9 @@ public class BlendShaderController : MonoBehaviour
     private static int resXProp = Shader.PropertyToID("ResX");
     private static int farClipPlaneProp = Shader.PropertyToID("FarClipPlane");
     private static int monoChanelResProp = Shader.PropertyToID("MonoChannelResult");
+    private static int Depths1Id = Shader.PropertyToID("Depths1");
+    private static int Depths2Id = Shader.PropertyToID("Depths2");
+    private static int ResDepthsId = Shader.PropertyToID("MergedDepths");
 
     private static string savePath = Application.streamingAssetsPath + '\\';
     private const string filename = "dsitMap";
@@ -37,6 +41,7 @@ public class BlendShaderController : MonoBehaviour
     [Range(0.0f, 2.0f)]
     public float testDistance = 0.08f;
     public Shader DepthShader;
+    public Material depthMaterial;
     public ComputeShader BlendShader;
     public Camera camera1;
     public Camera camera2;
@@ -57,11 +62,16 @@ public class BlendShaderController : MonoBehaviour
     private bool flag = false;
 
     private ComputeBuffer computeBuffer;
+    private ComputeBuffer depthBuffer;
     private float[] resultArray;
     Thread savingThread;
     Task<string> task1;
     Task task2;
 
+    private ComputeBuffer depthsBuffer1;
+    private ComputeBuffer depthsBuffer2;
+    private ComputeBuffer resDepthsBuffer;
+
     private int uvOffset;
 
     // Start is called before the first frame update
@@ -74,6 +84,14 @@ public class BlendShaderController : MonoBehaviour
     void InitializeComputeBuffer()
     {
         computeBuffer = new ComputeBuffer(currentRes * currentRes, 1 * sizeof(float));//2 dimensional array of 1 value type of float
+
+        depthBuffer = new ComputeBuffer(currentRes * currentRes, 1 * sizeof(float));
+        depthMaterial = CoreUtils.CreateEngineMaterial(DepthShader);
+        depthMaterial.SetBuffer("distBuffer", depthBuffer);
+
+        depthsBuffer1 = new ComputeBuffer(currentRes * currentRes, 1 * sizeof(float));
+        depthsBuffer2 = new ComputeBuffer(currentRes * currentRes, 1 * sizeof(float));
+        resDepthsBuffer = new ComputeBuffer(currentRes * currentRes, 1 * sizeof(float));
     }
 
     void InitializeTextures()
@@ -113,27 +131,7 @@ public class BlendShaderController : MonoBehaviour
         SetCameraDistance(testDistance);
         ComputeUVOffset();
 
-        if (Input.GetKeyDown(KeyCode.F))
-        {
-            SetFlag();
-        }
-
-        if (flag)
-        {
-            GenerateDepth();
-        }
-
         UpdateShader(cameraTexture1, cameraTexture2);
-
-        if(Input.GetKeyDown(KeyCode.S))
-        {
-            SaveTextureAsync();
-        }
-
-        if (Input.GetKeyDown(KeyCode.A))
-        {
-            SaveTexture();
-        }
     }
 
     void UpdateShader(RenderTexture tex1, RenderTexture tex2)
@@ -148,6 +146,21 @@ public class BlendShaderController : MonoBehaviour
         BlendShader.Dispatch(0, Result.width / 8, Result.height / 8, 1);
     }
 
+    void UpdateShader(float[] depths1, float[] depths2)
+    {
+        depthsBuffer1.SetData(depths1);
+        depthsBuffer2.SetData(depths2);
+
+        BlendShader.SetFloat(offsetProp, uvOffset);
+        BlendShader.SetFloat(resXProp, currentRes);
+
+        BlendShader.SetBuffer(1, Depths1Id, depthsBuffer1);
+        BlendShader.SetBuffer(1, Depths2Id, depthsBuffer2);
+        BlendShader.SetBuffer(1, ResDepthsId, resDepthsBuffer);
+
+        BlendShader.Dispatch(1, currentRes / 8, currentRes / 8, 1);
+    }
+
     void ComputeUVOffset()
     {
         if (camera1 && camera2)
@@ -166,15 +179,6 @@ public class BlendShaderController : MonoBehaviour
         uvOffset = (int)(camera2.transform.localPosition.x * OffsetMultiplier);
     }
 
-    void GenerateDepth()
-    {
-        //camera1.RenderWithShader(DepthShader, "RenderType");
-        //camera2.RenderWithShader(DepthShader, "RenderType");
-
-        Graphics.Blit(depth1, cameraTexture1); //Depth generated due to format of render texture
-        Graphics.Blit(depth2, cameraTexture2);
-    }
-
     void SwapRenderTargets()
     {
         if (flag)
@@ -222,9 +226,20 @@ public class BlendShaderController : MonoBehaviour
         Save(result);
     }
 
-    public void GetDistArray()
+    public async void GetDistArray(TaskCompletionSource<string> tcs)
     {
-        
+        int cameraId1 = camera1.GetInstanceID();
+        int cameraId2 = camera2.GetInstanceID();
+        float[] depths1 = await DepthRenderPassFeature.DepthRenderPass.RequestDepthDataAsync(cameraId1);
+        float[] depths2 = await DepthRenderPassFeature.DepthRenderPass.RequestDepthDataAsync(cameraId2);
+        UpdateShader(depths1, depths2);
+        float[] depths = new float[currentRes * currentRes];
+        resDepthsBuffer.GetData(depths);
+        byte[] bytes = new byte[depths.Length * sizeof(float)];
+        Buffer.BlockCopy(depths, 0, bytes, 0, bytes.Length);
+        string base64 = Convert.ToBase64String(bytes);
+        string result = "{\"width\":" + currentRes + ",\"height\":" + currentRes + ",\"data\":\"" + base64 + "\"}";
+        tcs.SetResult(result);
     }
 
     private async Task SavingProcessAsync(string data)
@@ -243,12 +258,17 @@ public class BlendShaderController : MonoBehaviour
     }
 
     private string SerializeArray()
+    {
+        return SerializeArray(resultArray);
+    }
+
+    private string SerializeArray(float[] arr)
     {
         string result = string.Empty;
         Debug.Log("StartSerializing");
         for (int i = 0; i < resultArray.Length; i += currentRes)
         {
-            result += string.Join(", ", resultArray[i..(i + currentRes)]) + '\n';
+            result += string.Join("; ", arr[i..(i + currentRes)]) + '\n';
         }
         Debug.Log("EndSerializing");
         return result;
@@ -288,6 +308,54 @@ public class BlendShaderController : MonoBehaviour
         return new double[] { fx, 0, cx, 0, fy, cy, 0, 0, 1 };
     }
 
+    public string GetIntrinsicParametersAsBase64(Camera camera)
+    {
+        double[] intrinsics = GetIntrinsicParameters(camera);
+        byte[] bytes = new byte[intrinsics.Length * sizeof(double)];
+        Buffer.BlockCopy(intrinsics, 0, bytes, 0, bytes.Length);
+        return Convert.ToBase64String(bytes);
+    }
+
+    public string GetLeftIntrinsicParametersAsBase64()
+    {
+        return GetIntrinsicParametersAsBase64(camera1);
+    }
+
+    public string GetRightIntrinsicParametersAsBase64()
+    {
+        return GetIntrinsicParametersAsBase64(camera2);
+    }
+
+    public double[] GetExtrinsicParameters(Camera camera)
+    {
+        Matrix4x4 m = camera.worldToCameraMatrix;
+        return new double[]
+        {
+            m.m00, m.m01, m.m02, m.m03,
+            m.m10, m.m11, m.m12, m.m13,
+            m.m20, m.m21, m.m22, m.m23,
+            m.m30, m.m31, m.m32, m.m33
+        };
+    }
+
+    public string GetExtrinsicParametersAsBase64(Camera camera)
+    {
+        double[] extrinsics = GetExtrinsicParameters(camera);
+        byte[] bytes = new byte[extrinsics.Length * sizeof(double)];
+        Buffer.BlockCopy(extrinsics, 0, bytes, 0, bytes.Length);
+        return Convert.ToBase64String(bytes);
+    }
+
+    public string GetLeftExtrinsicParametersAsBase64()
+    {
+        return GetExtrinsicParametersAsBase64(camera1);
+    }
+
+    public string GetRightExtrinsicParametersAsBase64()
+    {
+        return GetExtrinsicParametersAsBase64(camera2);
+    }
+
     public float GetCameraDistance()
     {
         if (camera1 == null || camera2 == null)
@@ -307,9 +375,72 @@ public class BlendShaderController : MonoBehaviour
         camera1.transform.position = center - direction * distance * 0.5f;
     }
 
+    public RenderTexture CombineTexturesSideBySide(RenderTexture left, RenderTexture right)
+    {
+        if (left == null || right == null)
+        {
+            Debug.LogError("Both render textures must be provided");
+            return null;
+        }
+        if (left.width != right.width || left.height != right.height)
+        {
+            Debug.LogError("Both render textures must have the same dimensions");
+            return null;
+        }
+
+        int w = left.width;
+        int h = left.height;
+
+        RenderTexture combined = new RenderTexture(w * 2, h, 0, RenderTextureFormat.ARGBFloat);
+        combined.Create();
+
+        Graphics.CopyTexture(left, 0, 0, 0, 0, w, h, combined, 0, 0, 0, 0);
+        Graphics.CopyTexture(right, 0, 0, 0, 0, w, h, combined, 0, 0, w, 0);
+
+        return combined;
+    }
+
+    public string GetCombinedTexturesAsBase64Json()
+    {
+        RenderTexture combined = CombineTexturesSideBySide(cameraTexture1, cameraTexture2);
+        if (combined == null) return null;
+
+        int w = combined.width;
+        int h = combined.height;
+
+        RenderTexture activeRT = RenderTexture.active;
+        RenderTexture.active = combined;
+
+        Texture2D tex = new Texture2D(w, h, TextureFormat.RGBAFloat, false);
+        tex.ReadPixels(new Rect(0, 0, w, h), 0, 0);
+        tex.Apply();
+        RenderTexture.active = activeRT;
+
+        byte[] rawData = tex.GetRawTextureData();
+        Destroy(tex);
+        combined.Release();
+
+        string base64 = Convert.ToBase64String(rawData);
+
+        return "{\"width\":" + w + ",\"height\":" + h + ",\"data\":\"" + base64 + "\"}";
+    }
+
     private void OnDisable()
     {
         computeBuffer.Release();
         computeBuffer = null;
+
+        depthBuffer.Release();
+        depthBuffer = null;
+
+        depthsBuffer1.Release();
+        depthsBuffer1 = null;
+        depthsBuffer2.Release();
+        depthsBuffer2 = null;
+        resDepthsBuffer.Release();
+        resDepthsBuffer = null;
+
+        Destroy(depthMaterial);
+        depthMaterial = null;
     }
 }

Assets/Scripts/CrpcApi.cs

@@ -71,7 +71,7 @@ namespace CloudPointRpc
 
         public RpcString(string data)
         {
-            var bytes = Encoding.UTF8.GetBytes(data);
+            var bytes = Encoding.ASCII.GetBytes(data);
             _handle = CrpcServerApi.crpc_str_create(bytes, (ulong)bytes.Length);
         }
 
@@ -113,6 +113,51 @@ namespace CloudPointRpc
         }
     }
 
+    public static class CrpcExtensions
+    {
+        public static string CrpcStrGetData(IntPtr rpcString)
+        {
+            var dataPtr = CrpcServerApi.crpc_str_get_data(rpcString);
+            var size = CrpcServerApi.crpc_str_get_size(rpcString);
+            if (dataPtr == IntPtr.Zero || size == 0)
+                return string.Empty;
+            return Marshal.PtrToStringAnsi(dataPtr, (int)size) ?? string.Empty;
+        }
+
+        public static ulong CrpcStrGetSize(IntPtr rpcString)
+        {
+            return CrpcServerApi.crpc_str_get_size(rpcString);
+        }
+
+        public static IntPtr CrpcStrCreate(string data)
+        {
+            var bytes = Encoding.UTF8.GetBytes(data);
+            return CrpcServerApi.crpc_str_create(bytes, (ulong)bytes.Length);
+        }
+
+        public static void CrpcStrDestroy(IntPtr rpcString)
+        {
+            CrpcServerApi.crpc_str_destroy(rpcString);
+        }
+
+        public static void CrpcInit(string configPath)
+        {
+            var bytes = Encoding.UTF8.GetBytes(configPath + '\0');
+            CrpcServerApi.crpc_init(bytes);
+        }
+
+        public static void CrpcDeinit()
+        {
+            CrpcServerApi.crpc_deinit();
+        }
+
+        public static void CrpcAddMethod(CrpcTestApi.RpcStringCallback cb, string name)
+        {
+            using var nameRpc = new RpcString(name);
+            CrpcServerApi.crpc_add_method(cb, nameRpc.Handle);
+        }
+    }
+
     public static class CrpcTestExtensions
     {
         public static void CrpcTestAddMethod(CrpcTestApi.RpcStringCallback cb, string name)

Assets/Scripts/DepthRenderPassFeature.cs

@@ -1,28 +1,48 @@
+using System;
 using System.Collections.Generic;
+using System.Threading.Tasks;
 using UnityEditor;
 using UnityEngine;
 using UnityEngine.Rendering;
 using UnityEngine.Rendering.Universal;
+using UnityEngine.XR;
 
 public class DepthRenderPassFeature : ScriptableRendererFeature
 {
-    class DepthRenderPass : ScriptableRenderPass
+    private static Dictionary<int, Queue<TaskCompletionSource<float[]>>> m_PendingRequests = new();
+
+    internal class DepthRenderPass : ScriptableRenderPass
     {
-        public static Queue<bool> Requests;
-        public static Queue<float[]> Answers;
+        public static Task<float[]> RequestDepthDataAsync(int id, TaskCompletionSource<float[]> tcs)
+        {
+            if(m_PendingRequests == null)
+                m_PendingRequests = new Dictionary<int, Queue<TaskCompletionSource<float[]>>>();
+
+            int key = id;
+            if (!m_PendingRequests.TryGetValue(key, out var queue))
+            {
+                queue = new Queue<TaskCompletionSource<float[]>>();
+                m_PendingRequests.Add(key, queue);
+            }
+            queue.Enqueue(tcs);
+            return tcs.Task;
+        }
+        public static Task<float[]> RequestDepthDataAsync(int id)
+        {
+            var tcs = new TaskCompletionSource<float[]>();
+            return RequestDepthDataAsync(id, tcs);
+        }
 
         ProfilingSampler m_ProfilingSampler = new ProfilingSampler("ColorBlit");
         private Material material;
         private RTHandle rtHandle;
+        private RTHandle copyRtHandle;
         private bool depth = false;
         private ComputeBuffer computeBuffer;
 
         public DepthRenderPass(Material material)
         {
             this.material = material;
-
-            Requests = new Queue<bool>();
-            Answers = new Queue<float[]>();
         }
 
         public void SetTarget(RTHandle handle, bool depth)
@@ -38,12 +58,15 @@ public class DepthRenderPassFeature : ScriptableRendererFeature
             {
                 material.SetBuffer("distBuffer", computeBuffer);
                 material.SetFloat("res", rt.height);
+                material.SetInt("_RenderDepth", this.depth ? 1 : 0);
             }
         }
 
         public override void OnCameraSetup(CommandBuffer cmd, ref RenderingData renderingData)
         {
             ConfigureTarget(rtHandle);
+            var desc = renderingData.cameraData.cameraTargetDescriptor;
+            RenderingUtils.ReAllocateIfNeeded(ref copyRtHandle, desc, FilterMode.Bilinear, TextureWrapMode.Clamp);
         }
 
         // Here you can implement the rendering logic.
@@ -52,25 +75,32 @@ public class DepthRenderPassFeature : ScriptableRendererFeature
         // You don't have to call ScriptableRenderContext.submit, the render pipeline will call it at specific points in the pipeline.
         public override void Execute(ScriptableRenderContext context, ref RenderingData renderingData)
         {
-            if (!depth) return;
-
             CommandBuffer cmd = CommandBufferPool.Get();
-            //RTHandle rt = renderingData.cameraData.renderer.cameraColorTargetHandle;
 
             using (new ProfilingScope(cmd, m_ProfilingSampler))
             {
                 Blitter.BlitCameraTexture(cmd, rtHandle, rtHandle, material, 0);
-                if(Requests.Count > 0)
-                {
-                    Requests.Dequeue();
-                    float[] resultArray = new float[computeBuffer.count];
-                    computeBuffer.GetData(resultArray);
-                    Answers.Enqueue(resultArray);
-                }
             }
 
             context.ExecuteCommandBuffer(cmd);
             CommandBufferPool.Release(cmd);
+
+            lock(m_PendingRequests)
+                {
+                    if (m_PendingRequests.Count > 0)
+                    {
+                        int key = renderingData.cameraData.camera.GetInstanceID();
+                        if (m_PendingRequests.TryGetValue(key, out var queue) && queue.Count > 0)
+                        {
+                            float[] result = new float[computeBuffer.count];
+                            material.SetBuffer("distBuffer", computeBuffer);
+                            Graphics.SetRandomWriteTarget(1, computeBuffer,false);
+                            computeBuffer.GetData(result);
+                            while (queue.TryDequeue(out var tcs))
+                                tcs.TrySetResult(result);
+                        }
+                    }
+                }
         }
 
         // Cleanup any allocated resources that were created during the execution of this render pass.
@@ -98,18 +128,6 @@ public class DepthRenderPassFeature : ScriptableRendererFeature
             {
                 DestroyComputeBuffer();
             }
-
-            if (Requests != null)
-            {
-                Requests.Clear();
-                Requests = null;
-            }
-
-            if (Answers != null)
-            {
-                Answers.Clear();
-                Answers = null;
-            }
         }
 
         public void DestroyComputeBuffer()
@@ -132,7 +150,7 @@ public class DepthRenderPassFeature : ScriptableRendererFeature
         m_ScriptablePass = new DepthRenderPass(material);
 
         // Configures where the render pass should be injected.
-        m_ScriptablePass.renderPassEvent = RenderPassEvent.AfterRenderingOpaques;
+        m_ScriptablePass.renderPassEvent = RenderPassEvent.AfterRenderingPostProcessing;
     }
 
     // Here you can inject one or multiple render passes in the renderer.
@@ -167,8 +185,16 @@ public class DepthRenderPassFeature : ScriptableRendererFeature
             Destroy(material);
 #endif
         m_ScriptablePass.Dispose(); 
+
+        if (m_PendingRequests != null)
+        {
+            foreach (var queue in m_PendingRequests.Values)
+            {
+                while (queue.TryDequeue(out var tcs))
+                    tcs.TrySetCanceled();
+            }
+            m_PendingRequests.Clear();
+        }
     }
 
 }
-
-

Assets/Scripts/DepthTester.cs

@@ -1,5 +1,7 @@
 using System.Collections;
 using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+using System.Threading.Tasks;
 using UnityEditor.Rendering;
 using UnityEngine;
 using UnityEngine.UIElements;
@@ -14,15 +16,20 @@ public class DepthTester : MonoBehaviour
     private Camera camera;
     private float farPlane;
     private float nearPlane;
+    private int id;
+    private Task<float[]> task;
+
     // Start is called before the first frame update
     void Start()
     {
         camera = GetComponent<Camera>();
+        id = camera.GetInstanceID();
         farPlane = camera.farClipPlane;
         nearPlane = camera.nearClipPlane;
         texture = BlendShaderController.CreateTextures(1, FrameRes, FrameRes, false)[0];
         camera.targetTexture = texture;
         texture2D = new Texture2D(texture.width, texture.height, TextureFormat.RGBAFloat, false);
+        task = DepthRenderPassFeature.DepthRenderPass.RequestDepthDataAsync(id);
     }
 
     private void OnDisable()
@@ -40,18 +47,29 @@ public class DepthTester : MonoBehaviour
 
     private void Update()
     {
+        lock(task)
+        {
+            if(task != null)
+            {
+                if(task.IsCompletedSuccessfully)
+                {
+                    float[] depths = task.Result;
+                    int centerIndex = (FrameRes / 2) * FrameRes + (FrameRes / 2);  
+                    float depth = depths[centerIndex];      
                     Vector3 depthPos = transform.position + transform.right * Offset;
-        RenderTexture.active = texture;
-        texture2D.ReadPixels(new Rect(0, 0, texture.width, texture.height), 0, 0);
-        texture2D.Apply();
-        Color pixel = texture2D.GetPixel(texture.width / 2, texture2D.height / 2);
-        float depth = pixel.r;
-        float depthDist = depth * farPlane;
-        Debug.DrawLine(depthPos, depthPos + transform.forward * depthDist, Color.green);
+                    Debug.DrawLine(depthPos, depthPos + transform.forward * depth, Color.green);
+                    Debug.Log($"chto to risuet: dist:{depth}; depthsCount: {depths.Length}");
+                    task = DepthRenderPassFeature.DepthRenderPass.RequestDepthDataAsync(id);
+                }
+                else if(task.IsCanceled)
+                {
+                    task = DepthRenderPassFeature.DepthRenderPass.RequestDepthDataAsync(id);
+                }
+            }
+        }
 
         Vector3 raycastPos = transform.position - transform.right * Offset;
         float rayDistance = 0;
-
         if(Physics.Raycast(transform.position, transform.forward, out var hit, 100))
         {
             rayDistance = hit.distance;

Assets/Scripts/RpcFunctions.cs

@@ -0,0 +1,218 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Threading;
+using System.Threading.Tasks;
+using CloudPointRpc;
+using UnityEngine;
+
+public class RpcFunctions : MonoBehaviour 
+{
+    private static Queue<Task> _callbackTasks = new Queue<Task>();
+    private static BlendShaderController controller;
+    private static CancellationTokenSource cts;
+
+    void Start()
+    {
+        controller = GetComponent<BlendShaderController>();
+        cts = new CancellationTokenSource();
+
+        CrpcExtensions.CrpcInit("config.json");
+
+        CrpcExtensions.CrpcAddMethod(RpcGetCloudPoint, "get_cloud_point");
+        CrpcExtensions.CrpcAddMethod(RpcGetImage, "get_image");
+        CrpcExtensions.CrpcAddMethod(RpcGetIntrinsicsLeft, "get_intrinsics_left");
+        CrpcExtensions.CrpcAddMethod(RpcGetIntrinsicsRight, "get_intrinsics_right");
+        CrpcExtensions.CrpcAddMethod(RpcGetExtrinsicsLeft, "get_extrinsics_left");
+        CrpcExtensions.CrpcAddMethod(RpcGetExtrinsicsRight, "get_extrinsics_right");
+
+        Debug.Log("[RpcFunctions] Initialized and methods added");
+    }
+
+    private void OnDestroy()
+    {
+        lock (_callbackTasks)
+        {
+            _callbackTasks.Clear();
+        }
+        cts.Cancel();
+        CrpcServerApi.crpc_deinit();
+    }
+
+    private void Update()
+    {
+        lock (_callbackTasks)
+        {
+            while (_callbackTasks.Count > 0)
+            {
+                var task = _callbackTasks.Dequeue();
+                task.RunSynchronously();
+            }
+        }
+    }
+
+    public static IntPtr RpcGetCloudPoint(IntPtr rpcString)
+    {
+        var rpc = new RpcString(rpcString);
+        var message = rpc.Data;
+        rpc.Dispose();
+        var tcs = new TaskCompletionSource<string>();
+
+        var task = new Task(() => {
+            Debug.Log($"[RpcTest] Callback received: {message}");
+            controller.GetDistArray(tcs);
+                }, cts.Token);
+
+        lock (_callbackTasks)
+        {
+            _callbackTasks.Enqueue(task);
+        }
+
+        try
+        {
+            task.Wait(cts.Token);
+            tcs.Task.Wait(cts.Token);
+        }
+        catch (OperationCanceledException)
+        {
+            Debug.Log("Waiting was canceled");
+        }
+        var responce = new RpcString(tcs.Task.Result);
+        return responce.Handle;
+    }
+    
+    public static IntPtr RpcGetImage(IntPtr rpcString)
+    {
+        var rpc = new RpcString(rpcString);
+        var message = rpc.Data;
+        rpc.Dispose();
+
+        var tcs = new TaskCompletionSource<string>();
+        var task = new Task(() =>
+        {
+            string result = controller.GetCombinedTexturesAsBase64Json();
+            tcs.SetResult(result);
+        });
+
+        try
+        {
+            task.Wait(cts.Token);
+            tcs.Task.Wait(cts.Token);
+        }
+        catch (OperationCanceledException)
+        {
+            Debug.Log("Waiting was canceled");
+        }
+
+        var responce = new RpcString(tcs.Task.Result);
+        return responce.Handle;
+    }
+
+    public static IntPtr RpcGetIntrinsicsLeft(IntPtr rpcString)
+    {
+        var rpc = new RpcString(rpcString);
+        var message = rpc.Data;
+        rpc.Dispose();
+
+        var tcs = new TaskCompletionSource<string>();
+        var task = new Task(() =>
+        {
+            string result = controller.GetLeftIntrinsicParametersAsBase64();
+            tcs.SetResult(result);
+        });
+
+        try
+        {
+            task.Wait(cts.Token);
+            tcs.Task.Wait(cts.Token);
+        }
+        catch (OperationCanceledException)
+        {
+            Debug.Log("Waiting was canceled");
+        }
+
+        var responce = new RpcString(tcs.Task.Result);
+        return responce.Handle;
+    }
+
+    public static IntPtr RpcGetIntrinsicsRight(IntPtr rpcString)
+    {
+        var rpc = new RpcString(rpcString);
+        var message = rpc.Data;
+        rpc.Dispose();
+
+        var tcs = new TaskCompletionSource<string>();
+        var task = new Task(() =>
+        {
+            string result = controller.GetRightIntrinsicParametersAsBase64();
+            tcs.SetResult(result);
+        });
+
+        try
+        {
+            task.Wait(cts.Token);
+            tcs.Task.Wait(cts.Token);
+        }
+        catch (OperationCanceledException)
+        {
+            Debug.Log("Waiting was canceled");
+        }
+
+        var responce = new RpcString(tcs.Task.Result);
+        return responce.Handle;
+    }
+
+    public static IntPtr RpcGetExtrinsicsLeft(IntPtr rpcString)
+    {
+        var rpc = new RpcString(rpcString);
+        var message = rpc.Data;
+        rpc.Dispose();
+
+        var tcs = new TaskCompletionSource<string>();
+        var task = new Task(() =>
+        {
+            string result = controller.GetLeftExtrinsicParametersAsBase64();
+            tcs.SetResult(result);
+        });
+
+        try
+        {
+            task.Wait(cts.Token);
+            tcs.Task.Wait(cts.Token);
+        }
+        catch (OperationCanceledException)
+        {
+            Debug.Log("Waiting was canceled");
+        }
+
+        var responce = new RpcString(tcs.Task.Result);
+        return responce.Handle;
+    }
+
+    public static IntPtr RpcGetExtrinsicsRight(IntPtr rpcString)
+    {
+        var rpc = new RpcString(rpcString);
+        var message = rpc.Data;
+        rpc.Dispose();
+
+        var tcs = new TaskCompletionSource<string>();
+        var task = new Task(() =>
+        {
+            string result = controller.GetRightExtrinsicParametersAsBase64();
+            tcs.SetResult(result);
+        });
+
+        try
+        {
+            task.Wait(cts.Token);
+            tcs.Task.Wait(cts.Token);
+        }
+        catch (OperationCanceledException)
+        {
+            Debug.Log("Waiting was canceled");
+        }
+
+        var responce = new RpcString(tcs.Task.Result);
+        return responce.Handle;
+    }
+}

Assets/Scripts/RpcFunctions.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b06971fce09a875489a2898f4f2cbaec
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Settings/URP-HighFidelity-Renderer.asset

@@ -14,7 +14,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   m_Active: 1
   shader: {fileID: 4800000, guid: 38575fbac906d53499789597d61d2fa4, type: 3}
-  Depth: 1
+  Depth: 0
 --- !u!114 &-1878332245247344467
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -108,7 +108,7 @@ MonoBehaviour:
     zFailOperation: 0
   m_ShadowTransparentReceive: 1
   m_RenderingMode: 1
-  m_DepthPrimingMode: 0
+  m_DepthPrimingMode: 1
   m_CopyDepthMode: 0
   m_AccurateGbufferNormals: 0
   m_IntermediateTextureMode: 1

Assets/Shaders/BlendShader.compute

@@ -1,5 +1,6 @@
 // Each #kernel tells which function to compile; you can have many kernels
 #pragma kernel CSMain
+#pragma kernel CSBlendDepths
 
 // Create a RenderTexture with enableRandomWrite flag and set it
 // with cs.SetTexture
@@ -7,6 +8,11 @@ RWTexture2D<float4> Camera1;
 RWTexture2D<float4> Camera2;
 RWTexture2D<float4> Result;
 RWStructuredBuffer<float> MonoChannelResult;
+
+StructuredBuffer<float> Depths1;
+StructuredBuffer<float> Depths2;
+RWStructuredBuffer<float> MergedDepths;
+
 float ResX;
 float Offset;
 float FarClipPlane;
@@ -16,8 +22,29 @@ void CSMain (uint3 id : SV_DispatchThreadID)
 {
     int2 idxy1 = int2(clamp(id.x + Offset, 0, ResX), id.y);
     int2 idxy2 = int2(clamp(id.x - Offset, 0, ResX), id.y);
-    float diffFactor = saturate(id.x - Offset) * saturate(ResX - (id.x + Offset));
-    float4 resVal = float4(((Camera1[idxy1] * diffFactor + Camera2[idxy2] * diffFactor) / 2).xyz, 1);
+    float3 col1 = Camera1[idxy1].xyz;
+    float3 col2 = Camera1[idxy2].xyz;
+    float diffFactorL = saturate(id.x - Offset);
+    float diffFactorR = saturate(ResX - (id.x + Offset));
+    float4 resVal = 0;
+    //if(diffFactorL && diffFactorR > 0)
+        resVal = float4(((col1 * diffFactorR + col2 * diffFactorL) / ((diffFactorL && diffFactorR) == false ? 1 : 2)).xyz, 1);
+    //else
+        //resVal = float4(max(col1, col2), 1);
+
     Result[id.xy] = resVal;
     MonoChannelResult[id.x + id.y * ResX] = resVal.r * FarClipPlane;
 }
+
+[numthreads(8, 8, 1)]
+void CSBlendDepths(uint3 id : SV_DispatchThreadID)
+{
+    int2 idx1 = int2(clamp(id.x + Offset, 0, ResX), id.y);
+    int2 idx2 = int2(clamp(id.x - Offset, 0, ResX), id.y);
+    float col1 = Depths1[idx1.x + ResX * idx1.y];
+    float col2 = Depths1[idx2.x + ResX * idx2.y];
+    float diffFactorL = saturate(id.x - Offset);
+    float diffFactorR = saturate(ResX - (id.x + Offset));
+    float resCol = (col1 * diffFactorR + col2 * diffFactorL) / ((diffFactorL && diffFactorR) == false ? 1 : 2);
+    MergedDepths[id.x + id.y * ResX] = resCol;
+}

Assets/Shaders/RenderDepth.shader

@@ -14,54 +14,36 @@ Shader "Hidden/RenderDepth"
         Pass
         {
             HLSLPROGRAM
+            #pragma target 5.0
+
             #pragma vertex Vert
             #pragma fragment frag
 
-            //#include "UnityCG.cginc"
             #include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/Core.hlsl"
             #include "Packages/com.unity.render-pipelines.core/Runtime/Utilities/Blit.hlsl"
+            #include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/DeclareOpaqueTexture.hlsl"
             #include "Packages/com.unity.render-pipelines.universal/ShaderLibrary/DeclareDepthTexture.hlsl"
 
-            struct appdata
-            {
-                float4 vertex : POSITION;
-                float2 uv : TEXCOORD0;
-            };
-
-            struct v2f
-            {
-                float2 uv : TEXCOORD0;
-                float4 vertex : SV_POSITION;
-            };
-
-            // v2f vert (appdata v)
-            // {
-            //     v2f o;
-            //     o.vertex = UnityObjectToClipPos(v.vertex);
-            //     o.uv = v.uv;
-            //     return o;
-            // }
-
             sampler2D _MainTex; 
-            TEXTURE2D_X(_CameraOpaqueTexture); 
-            SAMPLER(sampler_CameraOpaqueTexture);
 
-            RWStructuredBuffer<float> distBuffer;
+            RWStructuredBuffer<float> distBuffer : register(u1);
             int res;
+            bool _RenderDepth;
 
             float4 frag (Varyings i) : SV_Target
             {
-                float2 UV = i.positionCS.xy / _ScaledScreenParams.xy;
+                uint2 pixelIdx = uint2(i.positionCS.xy);
+                float3 color = SampleSceneColor(i.texcoord);
 
                 #if UNITY_REVERSED_Z
-                    real depth = SampleSceneDepth(UV);
+                    real depth = SampleSceneDepth(i.texcoord);
                 #else
                     // Adjust z to match NDC for OpenGL
-                    real depth = lerp(UNITY_NEAR_CLIP_VALUE, 1, SampleSceneDepth(UV)); 
+                    real depth = lerp(UNITY_NEAR_CLIP_VALUE, 1, SampleSceneDepth(i.texcoord)); 
                 #endif
                 depth = Linear01Depth(depth, _ZBufferParams);
-
-                return float4(depth, depth, depth, 1);
+                distBuffer[pixelIdx.y * (uint)_ScaledScreenParams.x + pixelIdx.x] = depth * _ProjectionParams.z;
+                return _RenderDepth ? float4(depth, depth, depth, 1) : float4(color, 1);
             }
             ENDHLSL
         }