public static SharpDX.Direct3D11.Buffer CreateVertexBuffer(Device device, RoomAliveToolkit.Kinect2Calibration kinect2Calibration)
{
// generate depthFrameToCameraSpace table
var depthFrameToCameraSpaceTable = kinect2Calibration.ComputeDepthFrameToCameraSpaceTable(Kinect2Calibration.depthImageWidth, Kinect2Calibration.depthImageHeight);
int numVertices = 6 * (Kinect2Calibration.depthImageWidth - 1) * (Kinect2Calibration.depthImageHeight - 1);
var vertices = new VertexPosition[numVertices];
Int3[] quadOffsets = new Int3[]
{
new Int3(0, 0, 0),
new Int3(1, 0, 0),
new Int3(0, 1, 0),
new Int3(1, 0, 0),
new Int3(1, 1, 0),
new Int3(0, 1, 0),
};
int vertexIndex = 0;
for (int y = 0; y < Kinect2Calibration.depthImageHeight - 1; y++)
for (int x = 0; x < Kinect2Calibration.depthImageWidth - 1; x++)
for (int i = 0; i < 6; i++)
{
int vertexX = x + quadOffsets[i].X;
int vertexY = y + quadOffsets[i].Y;
var point = depthFrameToCameraSpaceTable[Kinect2Calibration.depthImageWidth * vertexY + vertexX];
var vertex = new VertexPosition();
vertex.position = new SharpDX.Vector4(point.X, point.Y, vertexX, vertexY);
vertices[vertexIndex++] = vertex;
}
var stream = new DataStream(numVertices * VertexPosition.SizeInBytes, true, true);
stream.WriteRange(vertices);
stream.Position = 0;
var vertexBufferDesc = new BufferDescription()
{
BindFlags = BindFlags.VertexBuffer,
CpuAccessFlags = CpuAccessFlags.None,
Usage = ResourceUsage.Default,
SizeInBytes = numVertices * VertexPosition.SizeInBytes,
};
var vertexBuffer = new SharpDX.Direct3D11.Buffer(device, stream, vertexBufferDesc);
stream.Dispose();
return vertexBuffer;
}
public unsafe void SetConstants(DeviceContext deviceContext, RoomAliveToolkit.Kinect2Calibration kinect2Calibration, SharpDX.Matrix projection)
{
// hlsl matrices are default column order
var constants = new ConstantBuffer();
for (int i = 0, col = 0; col < 4; col++)
for (int row = 0; row < 4; row++)
{
constants.projection[i] = projection[row, col];
constants.depthToColorTransform[i] = (float)kinect2Calibration.depthToColorTransform[row, col];
i++;
}
constants.f[0] = (float)kinect2Calibration.colorCameraMatrix[0, 0];
constants.f[1] = (float)kinect2Calibration.colorCameraMatrix[1, 1];
constants.c[0] = (float)kinect2Calibration.colorCameraMatrix[0, 2];
constants.c[1] = (float)kinect2Calibration.colorCameraMatrix[1, 2];
constants.k1 = (float)kinect2Calibration.colorLensDistortion[0];
constants.k2 = (float)kinect2Calibration.colorLensDistortion[1];
DataStream dataStream;
deviceContext.MapSubresource(constantBuffer, MapMode.WriteDiscard, SharpDX.Direct3D11.MapFlags.None, out dataStream);
dataStream.Write<ConstantBuffer>(constants);
deviceContext.UnmapSubresource(constantBuffer, 0);
}
public static List<RoomAliveToolkit.Matrix> TransformPoints(RoomAliveToolkit.Matrix A, List<RoomAliveToolkit.Matrix> points)
{
var transformedPoints = new List<RoomAliveToolkit.Matrix>();
var point4 = new RoomAliveToolkit.Matrix(4, 1);
point4[3] = 1;
var transformedPoint4 = new RoomAliveToolkit.Matrix(4, 1);
foreach (var point in points)
{
point4[0] = point[0]; point4[1] = point[1]; point4[2] = point[2];
transformedPoint4.Mult(A, point4);
transformedPoint4.Scale(1.0f / transformedPoint4[3]);
var transformedPoint = new RoomAliveToolkit.Matrix(3, 1);
transformedPoint[0] = transformedPoint4[0]; transformedPoint[1] = transformedPoint4[1]; transformedPoint[2] = transformedPoint4[2];
transformedPoints.Add(transformedPoint);
}
return transformedPoints;
}
