public void TestSecondFrameNewBody()
{
List<ulong> found = new List<ulong>();
BodyTrackingProcessor processor = new BodyTrackingProcessor();
var firstFrame = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(256, true),
FakeBodies.FakeRandomBody(32, false)
};
processor.Next(firstFrame);
//Register to event now
processor.BodyTrackingStarted += (s, e) => found.Add(e.Body.TrackingId);
ulong newBodyId = 17;
var secondFrame = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(newBodyId, true),
};
processor.Next(secondFrame);
Assert.AreEqual(found.Count, 1);
Assert.AreEqual(found.Contains(newBodyId), true);
}
public void TestTrackingLostRaised()
{
List <ulong> found = new List <ulong>();
BodyTrackingProcessor processor = new BodyTrackingProcessor();
ulong lostBodyId = 256;
var firstFrame = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(lostBodyId, true),
FakeBodies.FakeRandomBody(32, false)
};
processor.Next(firstFrame);
//Register to event now
processor.BodyTrackingLost += (s, e) => found.Add(e.Body.TrackingId);
ulong newBodyId = 17;
var secondFrame = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(newBodyId, true),
};
processor.Next(secondFrame);
Assert.AreEqual(found.Count, 1);
Assert.AreEqual(found.Contains(lostBodyId), true);
}
public void TestTrackingFirstRaised()
{
bool isRaised = false;
BodyTrackingProcessor processor = new BodyTrackingProcessor();
processor.BodyTrackingStarted += (s, e) => isRaised = true;
var dataSet = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true)
};
processor.Next(dataSet);
Assert.AreEqual(isRaised, true);
}
public void TestTrackingFirstRaised()
{
bool isRaised = false;
BodyTrackingProcessor processor = new BodyTrackingProcessor();
processor.BodyTrackingStarted += (s, e) => isRaised = true;
var dataSet = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true)
};
processor.Next(dataSet);
Assert.AreEqual(isRaised, true);
}
public void TestFirstFrame2in1out()
{
List<ulong> found = new List<ulong>();
BodyTrackingProcessor processor = new BodyTrackingProcessor();
processor.BodyTrackingStarted += (s, e) => found.Add(e.Body.TrackingId);
var dataSet = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(256, true),
FakeBodies.FakeRandomBody(32, false)
};
processor.Next(dataSet);
Assert.AreEqual(found.Count, 2);
Assert.AreEqual(found.Contains(128), true);
Assert.AreEqual(found.Contains(256), true);
}
public void TestFirstFrame2in1out()
{
List <ulong> found = new List <ulong>();
BodyTrackingProcessor processor = new BodyTrackingProcessor();
processor.BodyTrackingStarted += (s, e) => found.Add(e.Body.TrackingId);
var dataSet = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(256, true),
FakeBodies.FakeRandomBody(32, false)
};
processor.Next(dataSet);
Assert.AreEqual(found.Count, 2);
Assert.AreEqual(found.Contains(128), true);
Assert.AreEqual(found.Contains(256), true);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="sensor">Kinect sensor</param>
/// <param name="bodyProcessor">Kinect body processor</param>
/// <param name="maxFaceCount">Maximum face count</param>
public MultipleHdFaceProcessor(KinectSensor sensor, BodyTrackingProcessor bodyProcessor, int maxFaceCount)
{
if (sensor == null)
throw new ArgumentNullException("sensor");
if (bodyProcessor == null)
throw new ArgumentNullException("bodyProcessor");
if (maxFaceCount < 1)
throw new ArgumentOutOfRangeException("maxFaceCount", "Should be at least 1");
this.bodyProcessor = bodyProcessor;
this.bodyProcessor.BodyTrackingStarted += BodyTrackingStarted;
this.bodyProcessor.BodyTrackingLost += BodyTrackingLost;
this.faceProcessors = new SingleHdFaceProcessor[maxFaceCount];
this.activeProcessors = new Dictionary<ulong, SingleHdFaceProcessor>();
this.idleProcessors = new List<SingleHdFaceProcessor>(maxFaceCount);
this.currentResults = new Dictionary<ulong, HdFaceFrameResultEventArgs>();
for (int i = 0; i < maxFaceCount; i++)
{
this.faceProcessors[i] = new SingleHdFaceProcessor(sensor);
this.idleProcessors.Add(this.faceProcessors[i]);
}
}
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, "ProjectedTextureHdFaceView.fx", "VS_Simple");
VertexShader vertexShaderIndexed = ShaderCompiler.CompileFromFile<VertexShader>(device, "ProjectedTextureHdFaceView.fx", "VS_Indexed");
PixelShader pixelShader = ShaderCompiler.CompileFromFile<PixelShader>(device, "ProjectedTextureHdFaceView.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];
DX11StructuredBuffer lookupBuffer = DX11StructuredBuffer.CreateDynamic<uint>(device, maxFaceCount);
//Note : since in this case we use instancing, we only need a buffer for a single face
HdFaceIndexBuffer faceIndexBuffer = new HdFaceIndexBuffer(device, 1);
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.VertexShader.SetShaderResource(0, faceRgbBuffer.ShaderView);
context.Context.PixelShader.SetSampler(0, device.SamplerStates.LinearClamp);
context.Context.PixelShader.SetShaderResource(0, colorTexture.ShaderView);
if (multiFace.CurrentResults.Count > 1)
{
uint[] buffer = new uint[multiFace.CurrentResults.Count];
for (uint i = 0; i < multiFace.CurrentResults.Count; i++)
{
buffer[i] = (uint)((i + 1) % multiFace.CurrentResults.Count);
}
lookupBuffer.WriteData(context, buffer);
context.Context.VertexShader.Set(vertexShaderIndexed);
context.Context.VertexShader.SetShaderResource(1, lookupBuffer.ShaderView);
}
else
{
context.Context.VertexShader.Set(vertexShader);
}
context.Context.PixelShader.Set(pixelShader);
//Attach index buffer, null topology since we fetch
faceIndexBuffer.AttachWithLayout(context);
faceIndexBuffer.DrawInstanced(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();
vertexShaderIndexed.Dispose();
lookupBuffer.Dispose();
sensor.Close();
}
public void TestTrackingLostRaisedSetFalse()
{
List<ulong> found = new List<ulong>();
BodyTrackingProcessor processor = new BodyTrackingProcessor();
ulong lostBodyId = 256;
var firstFrame = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(lostBodyId, true),
FakeBodies.FakeRandomBody(32, false)
};
processor.Next(firstFrame);
//Register to event now
processor.BodyTrackingLost += (s, e) => found.Add(e.Body.TrackingId);
ulong newBodyId = 17;
var secondFrame = new KinectBody[]
{
FakeBodies.FakeRandomBody(128, true),
FakeBodies.FakeRandomBody(lostBodyId, false), //Set tracking state to false here
FakeBodies.FakeRandomBody(newBodyId, true),
};
processor.Next(secondFrame);
Assert.AreEqual(found.Count, 1);
Assert.AreEqual(found.Contains(lostBodyId), true);
}
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();
}