public void TestDispose()
{
BodyIndexFrameData data = new BodyIndexFrameData();
data.Dispose();
Assert.AreEqual(data.DataPointer, IntPtr.Zero);
}
public void TestDisposedSize()
{
BodyIndexFrameData data = new BodyIndexFrameData();
data.Dispose();
Assert.AreEqual(data.SizeInBytes, 0);
}
public void TestConstrutor()
{
BodyIndexFrameData data = new BodyIndexFrameData();
bool pass = data.DataPointer != IntPtr.Zero;
data.Dispose();
Assert.AreEqual(true, pass);
}
public void BodyIndexTestConstructor()
{
using (BodyIndexFrameData frame = new BodyIndexFrameData())
{
BodyIndexFrameDataEventArgs args = new BodyIndexFrameDataEventArgs(frame);
Assert.AreEqual(frame, args.FrameData);
}
}
/// <summary>
/// Constructor
/// </summary>
public BodyIndexFrameDataEventArgs(BodyIndexFrameData args)
{
if (args == null)
{
throw new ArgumentNullException("args");
}
this.args = args;
}
public void TestDisposeAccess()
{
BodyIndexFrameData data = new BodyIndexFrameData();
data.Dispose();
//Should throw exception
var pointer = data.DataPointer;
}
public void TestSize()
{
BodyIndexFrameData data = new BodyIndexFrameData();
int expected = 512 * 424;
bool pass = data.SizeInBytes == expected;
data.Dispose();
Assert.AreEqual(pass, true);
}
public void TestMultipleDispose()
{
BodyIndexFrameData data = new BodyIndexFrameData();
data.Dispose();
//Second call to dispose should do nothing
data.Dispose();
Assert.AreEqual(data.DataPointer, IntPtr.Zero);
}
public void TestCopy()
{
using (BodyIndexFrameData frame = new BodyIndexFrameData())
{
using (DynamicBodyIndexTexture texture = new DynamicBodyIndexTexture(device))
{
texture.Copy(device.ImmediateContext, frame);
}
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="sensor">Kinect sensor</param>
public KinectSensorBodyIndexFrameProvider(KinectSensor sensor)
{
if (sensor == null)
{
throw new ArgumentNullException("sensor");
}
this.sensor = sensor;
this.reader = this.sensor.BodyIndexFrameSource.OpenReader();
this.reader.FrameArrived += this.FrameArrived;
this.frameData = new BodyIndexFrameData();
}
public static BodyIndexFrameData RandomBodyIndexFrame()
{
BodyIndexFrameData data = new BodyIndexFrameData();
Random r = new Random();
byte[] d = new byte[512 * 424];
for (int i = 0; i < d.Length; i++)
{
d[i] = (byte)r.Next(0, byte.MaxValue);
}
fixed(byte *ptr = &d[0])
{
memcpy(data.DataPointer, new IntPtr(ptr), 512 * 424);
}
return(data);
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect Simple filtered point cloud view sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
ComputeShader computeShader = ShaderCompiler.CompileFromFile <ComputeShader>(device, "PointCloudFilter.fx", "CS_Filter");
VertexShader vertexShader = ShaderCompiler.CompileFromFile <VertexShader>(device, "PointCloudJointView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "PointCloudJointView.fx", "PS");
BodyCameraPositionBuffer positionBuffer = new BodyCameraPositionBuffer(device);
DX11StructuredBuffer colorTableBuffer = DX11StructuredBuffer.CreateImmutable <Color4>(device, ColorTable);
DX11NullGeometry nullGeom = new DX11NullGeometry(device);
nullGeom.Topology = SharpDX.Direct3D.PrimitiveTopology.PointList;
InstancedIndirectBuffer indirectDrawBuffer = new InstancedIndirectBuffer(device);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
cbCamera camera = new cbCamera();
camera.Projection = Matrix.PerspectiveFovLH(1.57f * 0.5f, 1.3f, 0.01f, 100.0f);
camera.View = Matrix.Translation(0.0f, 0.0f, 2.0f);
camera.Projection.Transpose();
camera.View.Transpose();
ConstantBuffer <cbCamera> cameraBuffer = new ConstantBuffer <cbCamera>(device);
cameraBuffer.Update(context, ref camera);
bool doQuit = false;
bool uploadCamera = false;
bool uploadBodyIndex = false;
bool uploadBody = false;
CameraRGBFrameData rgbFrame = new CameraRGBFrameData();
DynamicCameraRGBTexture cameraTexture = new DynamicCameraRGBTexture(device);
KinectSensorDepthFrameProvider provider = new KinectSensorDepthFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { rgbFrame.Update(sensor.CoordinateMapper, args.DepthData); uploadCamera = true; };
BodyIndexFrameData bodyIndexFrame = null;
DynamicBodyIndexTexture bodyIndexTexture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider bodyIndexProvider = new KinectSensorBodyIndexFrameProvider(sensor);
bodyIndexProvider.FrameReceived += (sender, args) => { bodyIndexFrame = args.FrameData; uploadBodyIndex = true; };
AppendPointCloudBuffer pointCloudBuffer = new AppendPointCloudBuffer(device);
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider bodyFrameProvider = new KinectSensorBodyFrameProvider(sensor);
bodyFrameProvider.FrameReceived += (sender, args) => { bodyFrame = args.FrameData; uploadBody = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (uploadCamera)
{
cameraTexture.Copy(context.Context, rgbFrame);
uploadCamera = false;
}
if (uploadBodyIndex)
{
bodyIndexTexture.Copy(context.Context, bodyIndexFrame);
uploadBodyIndex = false;
}
if (uploadBody)
{
positionBuffer.Copy(context, bodyFrame.TrackedOnly().ClosestBodies());
uploadBody = false;
}
//Prepare compute shader
context.Context.ComputeShader.Set(computeShader);
context.Context.ComputeShader.SetShaderResource(0, cameraTexture.ShaderView);
context.Context.ComputeShader.SetShaderResource(1, bodyIndexTexture.RawView); //Set raw view here, we do not sample
context.Context.ComputeShader.SetUnorderedAccessView(0, pointCloudBuffer.UnorderedView, 0); //Don't forget to set count to 0
context.Context.Dispatch(Consts.DepthWidth / 8, Consts.DepthHeight / 8, 1); //No iDivUp here, since it's not needed
context.Context.ComputeShader.SetUnorderedAccessView(0, null); //Make runtime happy, and if we don't unbind we can't set as srv
context.Context.CopyStructureCount(indirectDrawBuffer.ArgumentBuffer, 0, pointCloudBuffer.UnorderedView);
//Draw filter buffer
context.RenderTargetStack.Push(swapChain);
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
context.Context.VertexShader.Set(vertexShader);
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.SetShaderResource(0, pointCloudBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(1, positionBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(2, colorTableBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
nullGeom.Bind(context, null);
context.Context.DrawInstancedIndirect(indirectDrawBuffer.ArgumentBuffer, 0);
context.Context.VertexShader.SetShaderResource(0, null); //Make runtime happy
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
cameraBuffer.Dispose();
cameraTexture.Dispose();
bodyIndexTexture.Dispose();
provider.Dispose();
bodyIndexProvider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
positionBuffer.Dispose();
colorTableBuffer.Dispose();
swapChain.Dispose();
context.Dispose();
device.Dispose();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect depth local stream sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
PixelShader pixelShaderRaw = ShaderCompiler.CompileFromFile <PixelShader>(device, "DepthToWorld.fx", "PS_Raw");
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
KinectFrameServer frameServer = new KinectFrameServer(32000, sensor);
KinectFrameClient frameClient = new KinectFrameClient(IPAddress.Parse("127.0.0.1"), 32000);
RayTableTexture rayTable = RayTableTexture.FromCoordinateMapper(device, sensor.CoordinateMapper);
RenderCameraTexture renderCamera = new RenderCameraTexture(device);
frameClient.Connect();
bool doQuit = false;
bool uploadDepth = false;
bool uploadBody = false;
int mode = 0; //0 = body index, 1 = depth, 2 = world
DepthFrameData depthData = null;
DynamicDepthTexture depth = new DynamicDepthTexture(device);
IDepthFrameProvider networkDepth = (IDepthFrameProvider)frameClient;
networkDepth.FrameReceived += (sender, args) => { depthData = args.DepthData; uploadDepth = true; };
BodyIndexFrameData bodyIndexData = null;
DynamicBodyIndexTexture bodyIndexTexture = new DynamicBodyIndexTexture(device);
IBodyIndexFrameProvider networkBody = (IBodyIndexFrameProvider)frameClient;
networkBody.FrameReceived += (sender, args) => { bodyIndexData = args.FrameData; uploadBody = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
if (args.KeyCode == Keys.Space)
{
mode++; if (mode > 2)
{
mode = 0;
}
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (uploadDepth)
{
depth.Copy(context, depthData);
uploadDepth = false;
if (mode == 2)
{
//Convert depth to world
context.Context.OutputMerger.SetRenderTargets(renderCamera.RenderView);
device.Primitives.ApplyFullTriVS(context);
context.Context.PixelShader.Set(pixelShaderRaw);
context.Context.PixelShader.SetShaderResource(0, depth.RawView);
context.Context.PixelShader.SetShaderResource(1, rayTable.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Apply();
}
}
if (uploadBody)
{
bodyIndexTexture.Copy(context, bodyIndexData);
uploadBody = false;
}
context.RenderTargetStack.Push(swapChain);
if (mode == 0)
{
device.Primitives.ApplyFullTri(context, bodyIndexTexture.NormalizedView);
}
else if (mode == 1)
{
device.Primitives.ApplyFullTri(context, depth.NormalizedView);
}
else
{
device.Primitives.ApplyFullTri(context, renderCamera.ShaderView);
}
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
depth.Dispose();
bodyIndexTexture.Dispose();
frameClient.Stop();
frameServer.Dispose();
rayTable.Dispose();
renderCamera.Dispose();
pixelShaderRaw.Dispose();
sensor.Close();
}
/// <summary>
/// Copy body index data fromcpu to gpu
/// <remarks>In that case we should use immediate context, do not use a deffered context
/// unless you really know what you do</remarks>
/// </summary>
/// <param name="context">Device context</param>
/// <param name="frame">Frame data</param>
public void Copy(DeviceContext context, BodyIndexFrameData frame)
{
this.texture.Upload(context, frame.DataPointer, frame.SizeInBytes);
}
public DummyBodyIndexProvider()
{
this.frameData = new BodyIndexFrameData();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect body index sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "BodyIndexView.fx", "PS_NormalizedView");
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool doUpload = false;
BodyIndexFrameData currentData = null;
DynamicBodyIndexTexture texture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider provider = new KinectSensorBodyIndexFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { currentData = args.FrameData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
texture.Copy(context, currentData);
doUpload = false;
}
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTriVS(context);
context.Context.PixelShader.Set(pixelShader);
context.Context.PixelShader.SetSampler(0, device.SamplerStates.LinearClamp);
context.Context.PixelShader.SetShaderResource(0, texture.NormalizedView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
texture.Dispose();
provider.Dispose();
pixelShader.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect background subtraction sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
PixelShader depthPixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "FilterDepthView.fx", "PS_Sample");
PixelShader rgbPixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "FilterRGBView.fx", "PS_Sample");
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool swapMode = false;
bool uploadColor = false;
bool uploadBodyIndex = false;
//We need color and body index for subtraction
ColorRGBAFrameData colorData = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider colorProvider = new KinectSensorColorRGBAFrameProvider(sensor);
colorProvider.FrameReceived += (sender, args) => { colorData = args.FrameData; uploadColor = true; };
BodyIndexFrameData bodyIndexData = null;
DynamicBodyIndexTexture bodyIndexTexture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider bodyIndexProvider = new KinectSensorBodyIndexFrameProvider(sensor);
bodyIndexProvider.FrameReceived += (sender, args) => { bodyIndexData = args.FrameData; uploadBodyIndex = true; };
bool uploadColorToDepth = false;
bool uploadDepthToColor = false;
ColorToDepthFrameData colorToDepthData = new ColorToDepthFrameData();
DepthToColorFrameData depthToColorData = new DepthToColorFrameData();
KinectSensorDepthFrameProvider depthProvider = new KinectSensorDepthFrameProvider(sensor);
depthProvider.FrameReceived += (sender, args) =>
{
if (!swapMode)
{
colorToDepthData.Update(sensor.CoordinateMapper, args.DepthData);
uploadColorToDepth = true;
}
else
{
depthToColorData.Update(sensor.CoordinateMapper, args.DepthData);
uploadDepthToColor = true;
}
};
DynamicColorToDepthTexture colorToDepthTexture = new DynamicColorToDepthTexture(device);
DynamicDepthToColorTexture depthToColorTexture = new DynamicDepthToColorTexture(device);
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
if (args.KeyCode == Keys.Space)
{
swapMode = !swapMode;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (uploadColor)
{
colorTexture.Copy(context, colorData);
uploadColor = false;
}
if (uploadBodyIndex)
{
bodyIndexTexture.Copy(context, bodyIndexData);
uploadBodyIndex = false;
}
if (uploadColorToDepth)
{
colorToDepthTexture.Copy(context, colorToDepthData);
uploadColorToDepth = false;
}
if (uploadDepthToColor)
{
depthToColorTexture.Copy(context, depthToColorData);
uploadDepthToColor = false;
}
ShaderResourceView view = swapMode ? depthToColorTexture.ShaderView : colorToDepthTexture.ShaderView;
PixelShader shader = swapMode ? depthPixelShader : rgbPixelShader;
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTriVS(context);
context.Context.PixelShader.Set(shader);
context.Context.PixelShader.SetShaderResource(0, colorTexture.ShaderView);
//Note: make sure to use normalized view as we use untyped resource here
context.Context.PixelShader.SetShaderResource(1, bodyIndexTexture.NormalizedView);
context.Context.PixelShader.SetShaderResource(2, view);
context.Context.PixelShader.SetSampler(0, device.SamplerStates.LinearClamp);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
depthProvider.Dispose();
colorToDepthData.Dispose();
depthToColorData.Dispose();
colorToDepthTexture.Dispose();
depthToColorTexture.Dispose();
colorTexture.Dispose();
colorProvider.Dispose();
bodyIndexData.Dispose();
bodyIndexProvider.Dispose();
depthPixelShader.Dispose();
rgbPixelShader.Dispose();
sensor.Close();
}
private void FrameReceived(object sender, BodyIndexFrameDataEventArgs e)
{
this.currentFrameData = e.FrameData;
this.upload = true;
}
