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 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();
}