コード例 #1
0
ファイル: Program.cs プロジェクト: semihguresci/kgp
        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();
        }
コード例 #2
0
ファイル: Program.cs プロジェクト: semihguresci/kgp
        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();
        }