public ProjectorCameraEnsemble(int numProjectors, int numCameras)
{
projectors = new List<ProjectorCameraEnsemble.Projector>();
for (int i = 0; i < numProjectors; i++)
{
var projector = new ProjectorCameraEnsemble.Projector();
projector.name = i.ToString();
projector.hostNameOrAddress = "localhost";
projectors.Add(projector);
}
cameras = new List<ProjectorCameraEnsemble.Camera>();
for (int i = 0; i < numCameras; i++)
{
var camera = new ProjectorCameraEnsemble.Camera();
camera.name = i.ToString();
camera.hostNameOrAddress = "localhost";
cameras.Add(camera);
if (i == 0)
camera.pose = RoomAliveToolkit.Matrix.Identity(4, 4);
}
name = "Untitled";
imagingFactory = new SharpDX.WIC.ImagingFactory();
stopWatch = new System.Diagnostics.Stopwatch();
}
void SetViewProjectionFromCamera(ProjectorCameraEnsemble.Camera camera)
{
view = new SharpDX.Matrix();
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
view[i, j] = (float)camera.pose[i, j];
}
}
view.Invert();
view.Transpose();
float aspect = (float)videoPanel1.Width / (float)videoPanel1.Height;
projection = PerspectiveFov(35.0f / 180.0f * (float)Math.PI, aspect, 0.1f, 100.0f);
projection.Transpose();
}
public ProjectorCameraEnsemble(int numProjectors, int numCameras)
{
projectors = new List<ProjectorCameraEnsemble.Projector>();
for (int i = 0; i < numProjectors; i++)
{
var projector = new ProjectorCameraEnsemble.Projector();
projector.name = i.ToString();
projector.hostNameOrAddress = "localhost";
projectors.Add(projector);
}
cameras = new List<ProjectorCameraEnsemble.Camera>();
for (int i = 0; i < numCameras; i++)
{
var camera = new ProjectorCameraEnsemble.Camera();
camera.name = i.ToString();
camera.hostNameOrAddress = "localhost";
cameras.Add(camera);
if (i == 0)
camera.pose = RoomAliveToolkit.Matrix.Identity(4, 4);
}
name = "Untitled";
}
// encapsulates d3d resources for a camera
public CameraDeviceResource(SharpDX.Direct3D11.Device device, ProjectorCameraEnsemble.Camera camera, Object renderLock, string directory)
{
this.device = device;
this.camera = camera;
this.renderLock = renderLock;
// Kinect depth image
var depthImageTextureDesc = new Texture2DDescription()
{
Width = Kinect2Calibration.depthImageWidth,
Height = Kinect2Calibration.depthImageHeight,
MipLevels = 1,
ArraySize = 1,
Format = SharpDX.DXGI.Format.R16_UInt,
SampleDescription = new SharpDX.DXGI.SampleDescription(1, 0),
Usage = ResourceUsage.Dynamic,
BindFlags = BindFlags.ShaderResource,
CpuAccessFlags = CpuAccessFlags.Write,
};
depthImageTexture = new Texture2D(device, depthImageTextureDesc);
depthImageTextureRV = new ShaderResourceView(device, depthImageTexture);
var floatDepthImageTextureDesc = new Texture2DDescription()
{
Width = Kinect2Calibration.depthImageWidth,
Height = Kinect2Calibration.depthImageHeight,
MipLevels = 1,
ArraySize = 1,
Format = SharpDX.DXGI.Format.R32_Float,
SampleDescription = new SharpDX.DXGI.SampleDescription(1, 0),
Usage = ResourceUsage.Default,
BindFlags = BindFlags.RenderTarget | BindFlags.ShaderResource,
CpuAccessFlags = CpuAccessFlags.None,
};
floatDepthImageTexture = new Texture2D(device, floatDepthImageTextureDesc);
floatDepthImageRV = new ShaderResourceView(device, floatDepthImageTexture);
floatDepthImageRenderTargetView = new RenderTargetView(device, floatDepthImageTexture);
floatDepthImageTexture2 = new Texture2D(device, floatDepthImageTextureDesc);
floatDepthImageRV2 = new ShaderResourceView(device, floatDepthImageTexture2);
floatDepthImageRenderTargetView2 = new RenderTargetView(device, floatDepthImageTexture2);
// Kinect color image
var colorImageStagingTextureDesc = new Texture2DDescription()
{
Width = Kinect2Calibration.colorImageWidth,
Height = Kinect2Calibration.colorImageHeight,
MipLevels = 1,
ArraySize = 1,
Format = SharpDX.DXGI.Format.B8G8R8A8_UNorm,
SampleDescription = new SharpDX.DXGI.SampleDescription(1, 0),
Usage = ResourceUsage.Dynamic,
BindFlags = BindFlags.ShaderResource,
CpuAccessFlags = CpuAccessFlags.Write
};
colorImageStagingTexture = new Texture2D(device, colorImageStagingTextureDesc);
var colorImageTextureDesc = new Texture2DDescription()
{
Width = Kinect2Calibration.colorImageWidth,
Height = Kinect2Calibration.colorImageHeight,
MipLevels = 0,
ArraySize = 1,
Format = SharpDX.DXGI.Format.B8G8R8A8_UNorm,
SampleDescription = new SharpDX.DXGI.SampleDescription(1, 0),
Usage = ResourceUsage.Default,
BindFlags = BindFlags.ShaderResource | BindFlags.RenderTarget,
CpuAccessFlags = CpuAccessFlags.None,
OptionFlags = ResourceOptionFlags.GenerateMipMaps
};
colorImageTexture = new Texture2D(device, colorImageTextureDesc);
colorImageTextureRV = new ShaderResourceView(device, colorImageTexture);
// vertex buffer
var table = camera.calibration.ComputeDepthFrameToCameraSpaceTable();
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 = table[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,
};
vertexBuffer = new SharpDX.Direct3D11.Buffer(device, stream, vertexBufferDesc);
vertexBufferBinding = new VertexBufferBinding(vertexBuffer, VertexPosition.SizeInBytes, 0);
stream.Dispose();
var colorImage = new RoomAliveToolkit.ARGBImage(Kinect2Calibration.colorImageWidth, Kinect2Calibration.colorImageHeight);
ProjectorCameraEnsemble.LoadFromTiff(imagingFactory, colorImage, directory + "/camera" + camera.name + "/color.tiff");
var depthImage = new RoomAliveToolkit.ShortImage(Kinect2Calibration.depthImageWidth, Kinect2Calibration.depthImageHeight);
ProjectorCameraEnsemble.LoadFromTiff(imagingFactory, depthImage, directory + "/camera" + camera.name + "/mean.tiff");
lock (renderLock) // necessary?
{
UpdateColorImage(device.ImmediateContext, colorImage.DataIntPtr);
UpdateDepthImage(device.ImmediateContext, depthImage.DataIntPtr);
}
colorImage.Dispose();
depthImage.Dispose();
}