static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect Camera Joint sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
DX11DepthStencil depthStencil = new DX11DepthStencil(device, swapChain.Width, swapChain.Height, eDepthFormat.d24s8);
//VertexShader vertexShader = ShaderCompiler.CompileFromFile<VertexShader>(device, "ColorJointView.fx", "VS");
SharpDX.D3DCompiler.ShaderSignature signature;
VertexShader vertexShader = ShaderCompiler.CompileFromFile(device, "CameraJointView.fx", "VS_Color", out signature);
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "CameraJointView.fx", "PS_Color");
VertexShader vertexShaderLine = ShaderCompiler.CompileFromFile <VertexShader>(device, "CameraJointView.fx", "VS");
PixelShader pixelShaderLine = ShaderCompiler.CompileFromFile <PixelShader>(device, "CameraJointView.fx", "PS_White");
JointTableIndexBuffer indexBuffer = new JointTableIndexBuffer(device, 6);
DX11IndexedGeometry cube = device.Primitives.Box(new Box()
{
Size = new Vector3(0.05f)
});
DX11InstancedIndexedDrawer drawer = new DX11InstancedIndexedDrawer();
cube.AssignDrawer(drawer);
InputLayout layout;
var bc = new ShaderBytecode(signature);
cube.ValidateLayout(bc, out layout);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
Color4[] statusColor = new Color4[]
{
Color.Red,
Color.Yellow,
Color.Green
};
cbCamera camera = new cbCamera();
camera.Projection = Matrix.PerspectiveFovLH(1.57f, 1.3f, 0.1f, 100.0f);
camera.View = Matrix.Translation(0.0f, 0.0f, 2.0f);
camera.Projection.Transpose();
camera.View.Transpose();
ConstantBuffer <cbCamera> cameraBuffer = new ConstantBuffer <cbCamera>(device);
cameraBuffer.Update(context, ref camera);
DX11StructuredBuffer colorTableBuffer = DX11StructuredBuffer.CreateImmutable <Color4>(device, statusColor);
bool doQuit = false;
bool doUpload = false;
int bodyCount = 0;
KinectBody[] bodyFrame = null;
BodyCameraPositionBuffer positionBuffer = new BodyCameraPositionBuffer(device);
BodyJointStatusBuffer statusBuffer = new BodyJointStatusBuffer(device);
KinectSensorBodyFrameProvider provider = new KinectSensorBodyFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { bodyFrame = args.FrameData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
context.Context.OutputMerger.DepthStencilState = device.DepthStencilStates.LessReadWrite;
context.Context.Rasterizer.State = device.RasterizerStates.BackCullSolid;
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
var tracked = bodyFrame.TrackedOnly();
bodyCount = tracked.Count();
positionBuffer.Copy(context, tracked);
statusBuffer.Copy(context, tracked);
drawer.InstanceCount = tracked.Count() * Microsoft.Kinect.Body.JointCount;
}
context.RenderTargetStack.Push(depthStencil, false, swapChain);
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
depthStencil.Clear(context);
/*Position buffer and cbuffers are the same data and in same slot,
* so we bind them only once*/
context.Context.VertexShader.SetShaderResource(0, positionBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
//Draw lines
context.Context.PixelShader.Set(pixelShaderLine);
context.Context.VertexShader.Set(vertexShaderLine);
//Attach index buffer, null topology since we fetch
indexBuffer.AttachWithLayout(context);
indexBuffer.Draw(context, bodyCount);
//Draw cubes
cube.Bind(context, layout);
context.Context.VertexShader.Set(vertexShader);
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.SetShaderResource(1, statusBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(2, colorTableBuffer.ShaderView);
cube.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
depthStencil.Dispose();
context.Dispose();
device.Dispose();
positionBuffer.Dispose();
statusBuffer.Dispose();
colorTableBuffer.Dispose();
cameraBuffer.Dispose();
provider.Dispose();
cube.Dispose();
layout.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
pixelShaderLine.Dispose();
vertexShaderLine.Dispose();
indexBuffer.Dispose();
sensor.Close();
}
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("Kinect Simple filtered point cloud view sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
ComputeShader computeShader = ShaderCompiler.CompileFromFile <ComputeShader>(device, "PointCloudFilter.fx", "CS_Filter");
VertexShader vertexShader = ShaderCompiler.CompileFromFile <VertexShader>(device, "PointCloudJointView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "PointCloudJointView.fx", "PS");
BodyCameraPositionBuffer positionBuffer = new BodyCameraPositionBuffer(device);
DX11StructuredBuffer colorTableBuffer = DX11StructuredBuffer.CreateImmutable <Color4>(device, ColorTable);
DX11NullGeometry nullGeom = new DX11NullGeometry(device);
nullGeom.Topology = SharpDX.Direct3D.PrimitiveTopology.PointList;
InstancedIndirectBuffer indirectDrawBuffer = new InstancedIndirectBuffer(device);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
cbCamera camera = new cbCamera();
camera.Projection = Matrix.PerspectiveFovLH(1.57f * 0.5f, 1.3f, 0.01f, 100.0f);
camera.View = Matrix.Translation(0.0f, 0.0f, 2.0f);
camera.Projection.Transpose();
camera.View.Transpose();
ConstantBuffer <cbCamera> cameraBuffer = new ConstantBuffer <cbCamera>(device);
cameraBuffer.Update(context, ref camera);
bool doQuit = false;
bool uploadCamera = false;
bool uploadBodyIndex = false;
bool uploadBody = false;
CameraRGBFrameData rgbFrame = new CameraRGBFrameData();
DynamicCameraRGBTexture cameraTexture = new DynamicCameraRGBTexture(device);
KinectSensorDepthFrameProvider provider = new KinectSensorDepthFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { rgbFrame.Update(sensor.CoordinateMapper, args.DepthData); uploadCamera = true; };
BodyIndexFrameData bodyIndexFrame = null;
DynamicBodyIndexTexture bodyIndexTexture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider bodyIndexProvider = new KinectSensorBodyIndexFrameProvider(sensor);
bodyIndexProvider.FrameReceived += (sender, args) => { bodyIndexFrame = args.FrameData; uploadBodyIndex = true; };
AppendPointCloudBuffer pointCloudBuffer = new AppendPointCloudBuffer(device);
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider bodyFrameProvider = new KinectSensorBodyFrameProvider(sensor);
bodyFrameProvider.FrameReceived += (sender, args) => { bodyFrame = args.FrameData; uploadBody = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (uploadCamera)
{
cameraTexture.Copy(context.Context, rgbFrame);
uploadCamera = false;
}
if (uploadBodyIndex)
{
bodyIndexTexture.Copy(context.Context, bodyIndexFrame);
uploadBodyIndex = false;
}
if (uploadBody)
{
positionBuffer.Copy(context, bodyFrame.TrackedOnly().ClosestBodies());
uploadBody = false;
}
//Prepare compute shader
context.Context.ComputeShader.Set(computeShader);
context.Context.ComputeShader.SetShaderResource(0, cameraTexture.ShaderView);
context.Context.ComputeShader.SetShaderResource(1, bodyIndexTexture.RawView); //Set raw view here, we do not sample
context.Context.ComputeShader.SetUnorderedAccessView(0, pointCloudBuffer.UnorderedView, 0); //Don't forget to set count to 0
context.Context.Dispatch(Consts.DepthWidth / 8, Consts.DepthHeight / 8, 1); //No iDivUp here, since it's not needed
context.Context.ComputeShader.SetUnorderedAccessView(0, null); //Make runtime happy, and if we don't unbind we can't set as srv
context.Context.CopyStructureCount(indirectDrawBuffer.ArgumentBuffer, 0, pointCloudBuffer.UnorderedView);
//Draw filter buffer
context.RenderTargetStack.Push(swapChain);
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
context.Context.VertexShader.Set(vertexShader);
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.SetShaderResource(0, pointCloudBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(1, positionBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(2, colorTableBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
nullGeom.Bind(context, null);
context.Context.DrawInstancedIndirect(indirectDrawBuffer.ArgumentBuffer, 0);
context.Context.VertexShader.SetShaderResource(0, null); //Make runtime happy
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
cameraBuffer.Dispose();
cameraTexture.Dispose();
bodyIndexTexture.Dispose();
provider.Dispose();
bodyIndexProvider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
positionBuffer.Dispose();
colorTableBuffer.Dispose();
swapChain.Dispose();
context.Dispose();
device.Dispose();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect Simple hd face sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
VertexShader vertexShader = ShaderCompiler.CompileFromFile <VertexShader>(device, "HdFaceView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "HdFaceView.fx", "PS");
HdFaceIndexBuffer faceIndexBuffer = new HdFaceIndexBuffer(device, 1);
DynamicHdFaceStructuredBuffer faceVertexBuffer = new DynamicHdFaceStructuredBuffer(device, 1);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
cbCamera camera = new cbCamera();
camera.Projection = Matrix.PerspectiveFovLH(1.57f * 0.5f, 1.3f, 0.01f, 100.0f);
camera.View = Matrix.Translation(0.0f, 0.0f, 0.5f);
camera.Projection.Transpose();
camera.View.Transpose();
ConstantBuffer <cbCamera> cameraBuffer = new ConstantBuffer <cbCamera>(device);
cameraBuffer.Update(context, ref camera);
bool doQuit = false;
bool doUpload = false;
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider provider = new KinectSensorBodyFrameProvider(sensor);
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
FaceModel currentFaceModel = new FaceModel();
FaceAlignment currentFaceAlignment = new FaceAlignment();
SingleHdFaceProcessor hdFaceProcessor = new SingleHdFaceProcessor(sensor);
hdFaceProcessor.HdFrameReceived += (sender, args) => { currentFaceModel = args.FaceModel; currentFaceAlignment = args.FaceAlignment; doUpload = true; };
provider.FrameReceived += (sender, args) =>
{
bodyFrame = args.FrameData;
var body = bodyFrame.TrackedOnly().ClosestBodies().FirstOrDefault();
if (body != null)
{
hdFaceProcessor.AssignBody(body);
}
else
{
hdFaceProcessor.Suspend();
}
};
context.Context.Rasterizer.State = device.RasterizerStates.WireFrame;
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
var vertices = currentFaceModel.CalculateVerticesForAlignment(currentFaceAlignment).ToArray();
faceVertexBuffer.Copy(context, vertices);
doUpload = false;
}
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
if (hdFaceProcessor.IsValid)
{
context.RenderTargetStack.Push(swapChain);
context.Context.VertexShader.SetShaderResource(0, faceVertexBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
//Draw lines
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.Set(vertexShader);
//Attach index buffer, null topology since we fetch
faceIndexBuffer.AttachWithLayout(context);
faceIndexBuffer.Draw(context, 1);
context.RenderTargetStack.Pop();
}
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
cameraBuffer.Dispose();
faceIndexBuffer.Dispose();
faceVertexBuffer.Dispose();
provider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
hdFaceProcessor.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect color sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool doUpload = false;
InfraredFrameData currentData = null;
DynamicInfraredTexture irTexture = new DynamicInfraredTexture(device);
KinectSensorInfraredFrameProvider provider = new KinectSensorInfraredFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { currentData = args.FrameData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
irTexture.Copy(context, currentData);
}
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTri(context, irTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
irTexture.Dispose();
provider.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect RGB Joint sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
//VertexShader vertexShader = ShaderCompiler.CompileFromFile<VertexShader>(device, "ColorJointView.fx", "VS");
SharpDX.D3DCompiler.ShaderSignature signature;
VertexShader vertexShader = ShaderCompiler.CompileFromFile(device, "ColorJointView.fx", "VS_Color", out signature);
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "ColorJointView.fx", "PS_Color");
DX11IndexedGeometry circle = device.Primitives.Segment(new Segment()
{
Resolution = 32
});
DX11InstancedIndexedDrawer drawer = new DX11InstancedIndexedDrawer();
circle.AssignDrawer(drawer);
InputLayout layout;
var bc = new ShaderBytecode(signature);
circle.ValidateLayout(bc, out layout);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
Color4[] statusColor = new Color4[]
{
Color.Red,
Color.Yellow,
Color.Green
};
//Note cbuffer should have a minimum size of 16 bytes, so we create verctor4 instead of vector2
SharpDX.Vector4 jointSize = new SharpDX.Vector4(0.04f, 0.07f, 0.0f, 1.0f);
ConstantBuffer <SharpDX.Vector4> cbSize = new ConstantBuffer <SharpDX.Vector4>(device);
cbSize.Update(context, ref jointSize);
DX11StructuredBuffer colorTableBuffer = DX11StructuredBuffer.CreateImmutable <Color4>(device, statusColor);
bool doQuit = false;
bool doUpload = false;
bool uploadImage = false;
KinectBody[] bodyFrame = null;
BodyColorPositionBuffer positionBuffer = new BodyColorPositionBuffer(device);
BodyJointStatusBuffer statusBuffer = new BodyJointStatusBuffer(device);
KinectSensorBodyFrameProvider provider = new KinectSensorBodyFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { bodyFrame = args.FrameData; doUpload = true; };
ColorRGBAFrameData rgbFrame = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider colorProvider = new KinectSensorColorRGBAFrameProvider(sensor);
colorProvider.FrameReceived += (sender, args) => { rgbFrame = args.FrameData; uploadImage = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
var tracked = bodyFrame.TrackedOnly();
var colorSpace = tracked.Select(kb => new ColorSpaceKinectJoints(kb, sensor.CoordinateMapper));
positionBuffer.Copy(context, colorSpace);
statusBuffer.Copy(context, tracked);
drawer.InstanceCount = colorSpace.Count() * Microsoft.Kinect.Body.JointCount;
}
if (uploadImage)
{
colorTexture.Copy(context, rgbFrame);
}
context.RenderTargetStack.Push(swapChain);
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
device.Primitives.ApplyFullTri(context, colorTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
circle.Bind(context, layout);
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.Set(vertexShader);
context.Context.VertexShader.SetShaderResource(0, positionBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(1, statusBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(2, colorTableBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cbSize.Buffer);
circle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorProvider.Dispose();
colorTexture.Dispose();
positionBuffer.Dispose();
statusBuffer.Dispose();
colorTableBuffer.Dispose();
cbSize.Dispose();
provider.Dispose();
circle.Dispose();
layout.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect body index sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "BodyIndexView.fx", "PS_NormalizedView");
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool doUpload = false;
BodyIndexFrameData currentData = null;
DynamicBodyIndexTexture texture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider provider = new KinectSensorBodyIndexFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { currentData = args.FrameData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
texture.Copy(context, currentData);
doUpload = false;
}
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTriVS(context);
context.Context.PixelShader.Set(pixelShader);
context.Context.PixelShader.SetSampler(0, device.SamplerStates.LinearClamp);
context.Context.PixelShader.SetShaderResource(0, texture.NormalizedView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
texture.Dispose();
provider.Dispose();
pixelShader.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect multiple hd faces projected to rgb");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
VertexShader vertexShader = ShaderCompiler.CompileFromFile <VertexShader>(device, "ProjectedHdFaceView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "ProjectedHdFaceView.fx", "PS");
int maxFaceCount = Consts.MaxBodyCount;
int faceVertexCount = (int)Microsoft.Kinect.Face.FaceModel.VertexCount;
var vertRgbTempBuffer = new ColorSpacePoint[faceVertexCount];
ColorSpacePoint[] facePoints = new ColorSpacePoint[faceVertexCount * maxFaceCount];
HdFaceIndexBuffer faceIndexBuffer = new HdFaceIndexBuffer(device, maxFaceCount);
DynamicRgbSpaceFaceStructuredBuffer faceRgbBuffer = new DynamicRgbSpaceFaceStructuredBuffer(device, maxFaceCount);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool invalidateFace = false;
KinectSensorBodyFrameProvider provider = new KinectSensorBodyFrameProvider(sensor);
BodyTrackingProcessor bodyTracker = new BodyTrackingProcessor();
MultipleHdFaceProcessor multiFace = new MultipleHdFaceProcessor(sensor, bodyTracker, maxFaceCount);
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
bool uploadColor = false;
ColorRGBAFrameData currentData = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider colorProvider = new KinectSensorColorRGBAFrameProvider(sensor);
colorProvider.FrameReceived += (sender, args) => { currentData = args.FrameData; uploadColor = true; };
provider.FrameReceived += (sender, args) =>
{
bodyTracker.Next(args.FrameData);
};
multiFace.OnFrameResultsChanged += (sender, args) =>
{
invalidateFace = true;
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (invalidateFace)
{
int offset = 0;
foreach (var data in multiFace.CurrentResults)
{
var vertices = data.FaceModel.CalculateVerticesForAlignment(data.FaceAlignment).ToArray();
sensor.CoordinateMapper.MapCameraPointsToColorSpace(vertices, vertRgbTempBuffer);
Array.Copy(vertRgbTempBuffer, 0, facePoints, offset, faceVertexCount);
offset += faceVertexCount;
}
faceRgbBuffer.Copy(context, facePoints, multiFace.CurrentResults.Count * faceVertexCount);
invalidateFace = false;
}
if (uploadColor)
{
colorTexture.Copy(context, currentData);
uploadColor = false;
}
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
context.RenderTargetStack.Push(swapChain);
context.Context.Rasterizer.State = device.RasterizerStates.BackCullSolid;
context.Context.OutputMerger.BlendState = device.BlendStates.Disabled;
device.Primitives.ApplyFullTri(context, colorTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
if (multiFace.CurrentResults.Count > 0)
{
context.Context.Rasterizer.State = device.RasterizerStates.WireFrame;
context.Context.OutputMerger.BlendState = device.BlendStates.AlphaBlend;
context.Context.VertexShader.SetShaderResource(0, faceRgbBuffer.ShaderView);
//Draw lines
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.Set(vertexShader);
//Attach index buffer, null topology since we fetch
faceIndexBuffer.AttachWithLayout(context);
faceIndexBuffer.Draw(context, multiFace.CurrentResults.Count);
}
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorProvider.Dispose();
colorTexture.Dispose();
faceIndexBuffer.Dispose();
faceRgbBuffer.Dispose();
provider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
}
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();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect simple pilot sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
//Allow to draw using direct2d on top of swapchain
var context2d = new SharpDX.Direct2D1.DeviceContext(swapChain.Texture.QueryInterface <SharpDX.DXGI.Surface>());
//Call release on texture since queryinterface does an addref
Marshal.Release(swapChain.Texture.NativePointer);
var textFormat = new SharpDX.DirectWrite.TextFormat(device.DWriteFactory, "Arial", 16.0f);
var blackBrush = new SharpDX.Direct2D1.SolidColorBrush(context2d, SharpDX.Color.Black);
var whiteBrush = new SharpDX.Direct2D1.SolidColorBrush(context2d, SharpDX.Color.White);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
KinectSensorColorRGBAFrameProvider provider = new KinectSensorColorRGBAFrameProvider(sensor);
DynamicColorRGBATextureProcessor colorProcessor = new DynamicColorRGBATextureProcessor(provider, device);
KinectPilotProcessor pilot = KinectPilotProcessor.Default;
KinectSensorBodyFrameProvider bodyFrameProvider = new KinectSensorBodyFrameProvider(sensor);
bodyFrameProvider.FrameReceived += (sender, args) =>
{
var body = args.FrameData.TrackedOnly().ClosestBodies().FirstOrDefault();
if (body != null)
{
pilot.Process(body.GetJointTable());
}
};
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
colorProcessor.Update(context);
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTri(context, colorProcessor.Texture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
context2d.BeginDraw();
var rect = new SharpDX.RectangleF(0, 0, 200, 130);
context2d.FillRectangle(rect, blackBrush);
context2d.DrawText("Elevation: " + pilot.Elevation, textFormat, rect, whiteBrush);
rect.Top += 30;
context2d.DrawText("Steering Y: " + pilot.SteeringY, textFormat, rect, whiteBrush);
rect.Top += 30;
context2d.DrawText("Steering Z: " + pilot.SterringZ, textFormat, rect, whiteBrush);
rect.Top += 30;
context2d.DrawText("Push: " + pilot.Push, textFormat, rect, whiteBrush);
context2d.EndDraw();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorProcessor.Dispose();
provider.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect color sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
//Allow to draw using direct2d on top of swapchain
var context2d = new SharpDX.Direct2D1.DeviceContext(swapChain.Texture.QueryInterface <SharpDX.DXGI.Surface>());
//Call release on texture since queryinterface does an addref
Marshal.Release(swapChain.Texture.NativePointer);
var whiteBrush = new SharpDX.Direct2D1.SolidColorBrush(context2d, SharpDX.Color.White);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider bodyProvider = new KinectSensorBodyFrameProvider(sensor);
bool doQuit = false;
bool doUpload = false;
ColorRGBAFrameData currentData = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider provider = new KinectSensorColorRGBAFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { currentData = args.FrameData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
FaceFrameResult frameResult = null;
SingleFaceProcessor faceProcessor = new SingleFaceProcessor(sensor);
faceProcessor.FaceResultAcquired += (sender, args) => { frameResult = args.FrameResult; };
Func <PointF, Vector2> map = new Func <PointF, Vector2>((p) =>
{
float x = p.X / 1920.0f * (float)swapChain.Width;
float y = p.Y / 1080.0f * (float)swapChain.Height;
return(new Vector2(x, y));
});
Func <float, float, Vector2> mapxy = new Func <float, float, Vector2>((px, py) =>
{
float x = px / 1920.0f * (float)swapChain.Width;
float y = py / 1080.0f * (float)swapChain.Height;
return(new Vector2(x, y));
});
bodyProvider.FrameReceived += (sender, args) =>
{
bodyFrame = args.FrameData;
var body = bodyFrame.TrackedOnly().ClosestBodies().FirstOrDefault();
if (body != null)
{
faceProcessor.AssignBody(body);
}
else
{
faceProcessor.Suspend();
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
colorTexture.Copy(context, currentData);
}
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTri(context, colorTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
if (frameResult != null)
{
context2d.BeginDraw();
var colorBound = frameResult.FaceBoundingBoxInColorSpace;
RectangleF rect = new RectangleF();
Vector2 topLeft = mapxy(colorBound.Left, colorBound.Top);
Vector2 bottomRight = mapxy(colorBound.Right, colorBound.Bottom);
rect.Top = topLeft.Y;
rect.Bottom = bottomRight.Y;
rect.Left = topLeft.X;
rect.Right = bottomRight.X;
context2d.DrawRectangle(rect, whiteBrush, 3.0f);
foreach (PointF point in frameResult.FacePointsInColorSpace.Values)
{
var ellipse = new SharpDX.Direct2D1.Ellipse()
{
Point = map(point),
RadiusX = 5,
RadiusY = 5
};
context2d.FillEllipse(ellipse, whiteBrush);
}
context2d.EndDraw();
}
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorTexture.Dispose();
provider.Dispose();
bodyProvider.Dispose();
faceProcessor.Dispose();
whiteBrush.Dispose();
context2d.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect Simple point cloud view sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
VertexShader vertexShader = ShaderCompiler.CompileFromFile <VertexShader>(device, "ColoredPointCloudView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "ColoredPointCloudView.fx", "PS");
DX11NullInstancedDrawer nulldrawer = new DX11NullInstancedDrawer();
nulldrawer.VertexCount = Consts.DepthWidth;
nulldrawer.InstanceCount = Consts.DepthHeight;
DX11NullGeometry nullGeom = new DX11NullGeometry(device, nulldrawer);
nullGeom.Topology = SharpDX.Direct3D.PrimitiveTopology.PointList;
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
cbCamera camera = new cbCamera();
camera.Projection = Matrix.PerspectiveFovLH(1.57f * 0.5f, 1.3f, 0.01f, 100.0f);
camera.View = Matrix.Translation(0.0f, 0.0f, 2.0f);
camera.Projection.Transpose();
camera.View.Transpose();
ConstantBuffer <cbCamera> cameraBuffer = new ConstantBuffer <cbCamera>(device);
cameraBuffer.Update(context, ref camera);
bool doQuit = false;
bool uploadCamera = false;
bool uploadRgb = false;
CameraRGBFrameData cameraFrame = new CameraRGBFrameData();
DynamicCameraRGBTexture cameraTexture = new DynamicCameraRGBTexture(device);
DepthToColorFrameData depthToColorFrame = new DepthToColorFrameData();
DynamicDepthToColorTexture depthToColorTexture = new DynamicDepthToColorTexture(device);
KinectSensorDepthFrameProvider provider = new KinectSensorDepthFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { cameraFrame.Update(sensor.CoordinateMapper, args.DepthData); depthToColorFrame.Update(sensor.CoordinateMapper, args.DepthData); uploadCamera = true; };
//Get coordinate map + rgb
ColorRGBAFrameData colorFrame = new ColorRGBAFrameData();
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider colorProvider = new KinectSensorColorRGBAFrameProvider(sensor);
colorProvider.FrameReceived += (sender, args) => { colorFrame = args.FrameData; uploadRgb = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (uploadCamera)
{
cameraTexture.Copy(context.Context, cameraFrame);
depthToColorTexture.Copy(context.Context, depthToColorFrame);
uploadCamera = false;
}
if (uploadRgb)
{
colorTexture.Copy(context.Context, colorFrame);
uploadRgb = false;
}
context.RenderTargetStack.Push(swapChain);
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
context.Context.VertexShader.Set(vertexShader);
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.SetShaderResource(0, cameraTexture.ShaderView);
context.Context.VertexShader.SetShaderResource(1, colorTexture.ShaderView);
context.Context.VertexShader.SetShaderResource(2, depthToColorTexture.ShaderView);
context.Context.VertexShader.SetSampler(0, device.SamplerStates.LinearClamp);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
nullGeom.Bind(context, null);
nullGeom.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
cameraBuffer.Dispose();
cameraTexture.Dispose();
provider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
colorTexture.Dispose();
colorProvider.Dispose();
depthToColorFrame.Dispose();
depthToColorTexture.Dispose();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect hd face projected to rgb");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport | DeviceCreationFlags.Debug);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
VertexShader vertexShader = ShaderCompiler.CompileFromFile <VertexShader>(device, "ProjectedHdFaceView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "ProjectedHdFaceView.fx", "PS");
HdFaceIndexBuffer faceIndexBuffer = new HdFaceIndexBuffer(device, 1);
DynamicRgbSpaceFaceStructuredBuffer faceRgbBuffer = new DynamicRgbSpaceFaceStructuredBuffer(device, 1);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool doUpload = false;
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider provider = new KinectSensorBodyFrameProvider(sensor);
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape)
{
doQuit = true;
}
};
FaceModel currentFaceModel = new FaceModel();
FaceAlignment currentFaceAlignment = new FaceAlignment();
SingleHdFaceProcessor hdFaceProcessor = new SingleHdFaceProcessor(sensor);
hdFaceProcessor.HdFrameReceived += (sender, args) => { currentFaceModel = args.FaceModel; currentFaceAlignment = args.FaceAlignment; doUpload = true; };
bool uploadColor = false;
ColorRGBAFrameData currentData = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider colorProvider = new KinectSensorColorRGBAFrameProvider(sensor);
colorProvider.FrameReceived += (sender, args) => { currentData = args.FrameData; uploadColor = true; };
provider.FrameReceived += (sender, args) =>
{
bodyFrame = args.FrameData;
var body = bodyFrame.TrackedOnly().ClosestBodies().FirstOrDefault();
if (body != null)
{
hdFaceProcessor.AssignBody(body);
}
else
{
hdFaceProcessor.Suspend();
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
var vertices = currentFaceModel.CalculateVerticesForAlignment(currentFaceAlignment).ToArray();
var vertRgb = new ColorSpacePoint[vertices.Length];
sensor.CoordinateMapper.MapCameraPointsToColorSpace(vertices, vertRgb);
faceRgbBuffer.Copy(context, vertRgb);
doUpload = false;
}
if (uploadColor)
{
colorTexture.Copy(context, currentData);
uploadColor = false;
}
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
context.RenderTargetStack.Push(swapChain);
context.Context.Rasterizer.State = device.RasterizerStates.BackCullSolid;
context.Context.OutputMerger.BlendState = device.BlendStates.Disabled;
device.Primitives.ApplyFullTri(context, colorTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
if (hdFaceProcessor.IsValid)
{
context.Context.Rasterizer.State = device.RasterizerStates.WireFrame;
context.Context.OutputMerger.BlendState = device.BlendStates.AlphaBlend;
context.Context.VertexShader.SetShaderResource(0, faceRgbBuffer.ShaderView);
//Draw lines
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.Set(vertexShader);
//Attach index buffer, null topology since we fetch
faceIndexBuffer.AttachWithLayout(context);
faceIndexBuffer.Draw(context, 1);
}
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorProvider.Dispose();
colorTexture.Dispose();
faceIndexBuffer.Dispose();
faceRgbBuffer.Dispose();
provider.Dispose();
pixelShader.Dispose();
vertexShader.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();
}