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 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();
}