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(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(); }