Example #1
0
        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();
        }
Example #2
0
        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();
        }