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();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm(header);
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");
PixelShader pixelShaderNorm = ShaderCompiler.CompileFromFile <PixelShader>(device, "DepthToWorld.fx", "PS_Normalized");
RayTableTexture rayTable = null;
KinectSensor sensor = KinectSensor.GetDefault();
sensor.CoordinateMapper.CoordinateMappingChanged += (s, e) =>
{
if (rayTable == null)
{
rayTable = RayTableTexture.FromCoordinateMapper(device, sensor.CoordinateMapper);
}
};
sensor.Open();
RenderCameraTexture renderCamera = new RenderCameraTexture(device);
bool doQuit = false;
bool doUpload = false;
bool useRaw = true;
DepthFrameData currentData = null;
DynamicDepthTexture depth = new DynamicDepthTexture(device);
KinectSensorDepthFrameProvider provider = new KinectSensorDepthFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { currentData = args.DepthData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
if (args.KeyCode == Keys.Space)
{
useRaw = !useRaw;
}
};
RenderLoop.Run(form, () =>
{
form.Text = header + (useRaw ? " - Raw Mode": " - Normalized Mode");
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload && rayTable != null)
{
depth.Copy(context, currentData);
//Convert depth to world
context.Context.OutputMerger.SetRenderTargets(renderCamera.RenderView);
device.Primitives.ApplyFullTriVS(context);
if (useRaw)
{
context.Context.PixelShader.Set(pixelShaderRaw);
context.Context.PixelShader.SetShaderResource(0, depth.RawView);
}
else
{
context.Context.PixelShader.Set(pixelShaderNorm);
context.Context.PixelShader.SetShaderResource(0, depth.NormalizedView);
}
context.Context.PixelShader.SetShaderResource(1, rayTable.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Apply();
}
context.RenderTargetStack.Push(swapChain);
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();
renderCamera.Dispose();
if (rayTable != null)
{
rayTable.Dispose();
}
provider.Dispose();
pixelShaderNorm.Dispose();
pixelShaderRaw.Dispose();
sensor.Close();
}