public void TestConstrutor()
{
ColorToDepthFrameData data = new ColorToDepthFrameData();
bool pass = data.DataPointer != IntPtr.Zero;
data.Dispose();
Assert.AreEqual(true, pass);
}
public void TestSize()
{
ColorToDepthFrameData data = new ColorToDepthFrameData();
int expected = 1920 * 1080 * 8;
bool pass = data.SizeInBytes == expected;
data.Dispose();
Assert.AreEqual(pass, true);
}
public void TestDisposeAccess()
{
ColorToDepthFrameData data = new ColorToDepthFrameData();
data.Dispose();
//Should throw exception
var pointer = data.DataPointer;
}
public void TestMultipleDispose()
{
ColorToDepthFrameData data = new ColorToDepthFrameData();
data.Dispose();
//Second call to dispose should do nothing
data.Dispose();
Assert.AreEqual(data.DataPointer, IntPtr.Zero);
}
public void TestCopy()
{
using (ColorToDepthFrameData frame = new ColorToDepthFrameData())
{
using (DynamicColorToDepthTexture texture = new DynamicColorToDepthTexture(device))
{
texture.Copy(device.ImmediateContext, frame);
}
}
}
public void TestDisposedSize()
{
ColorToDepthFrameData data = new ColorToDepthFrameData();
data.Dispose();
Assert.AreEqual(data.SizeInBytes, 0);
}
public void TestDispose()
{
ColorToDepthFrameData data = new ColorToDepthFrameData();
data.Dispose();
Assert.AreEqual(data.DataPointer, IntPtr.Zero);
}
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();
}
/// <summary>
/// Copy 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, ColorToDepthFrameData frame)
{
this.texture.Upload(context, frame.DataPointer, frame.SizeInBytes);
}
