public void CreateInstanced()
{
InstancedIndirectBuffer buffer = new InstancedIndirectBuffer(this.Device);
Assert.IsNotNull(buffer.ArgumentBuffer, "Argument buffer Is Null");
Assert.IsNotNull(buffer.WriteBuffer, "Write buffer Is Null");
buffer.Dispose();
}
public void Update(DX11RenderContext context,int defaultvertexcount, int defaultinstancecount)
{
if (this.indbuffer != null) { this.indbuffer.Dispose(); }
DrawInstancedArgs args = new DrawInstancedArgs();
args.InstanceCount = defaultinstancecount;
args.StartInstanceLocation = 0;
args.StartVertexLocation = 0;
args.VertexCount = defaultvertexcount;
this.indbuffer = new InstancedIndirectBuffer(context, args);
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect Simple filtered 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);
ComputeShader computeShader = ShaderCompiler.CompileFromFile <ComputeShader>(device, "PointCloudFilter.fx", "CS_Filter");
VertexShader vertexShader = ShaderCompiler.CompileFromFile <VertexShader>(device, "PointCloudJointView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile <PixelShader>(device, "PointCloudJointView.fx", "PS");
BodyCameraPositionBuffer positionBuffer = new BodyCameraPositionBuffer(device);
DX11StructuredBuffer colorTableBuffer = DX11StructuredBuffer.CreateImmutable <Color4>(device, ColorTable);
DX11NullGeometry nullGeom = new DX11NullGeometry(device);
nullGeom.Topology = SharpDX.Direct3D.PrimitiveTopology.PointList;
InstancedIndirectBuffer indirectDrawBuffer = new InstancedIndirectBuffer(device);
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 uploadBodyIndex = false;
bool uploadBody = false;
CameraRGBFrameData rgbFrame = new CameraRGBFrameData();
DynamicCameraRGBTexture cameraTexture = new DynamicCameraRGBTexture(device);
KinectSensorDepthFrameProvider provider = new KinectSensorDepthFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { rgbFrame.Update(sensor.CoordinateMapper, args.DepthData); uploadCamera = true; };
BodyIndexFrameData bodyIndexFrame = null;
DynamicBodyIndexTexture bodyIndexTexture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider bodyIndexProvider = new KinectSensorBodyIndexFrameProvider(sensor);
bodyIndexProvider.FrameReceived += (sender, args) => { bodyIndexFrame = args.FrameData; uploadBodyIndex = true; };
AppendPointCloudBuffer pointCloudBuffer = new AppendPointCloudBuffer(device);
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider bodyFrameProvider = new KinectSensorBodyFrameProvider(sensor);
bodyFrameProvider.FrameReceived += (sender, args) => { bodyFrame = args.FrameData; uploadBody = 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, rgbFrame);
uploadCamera = false;
}
if (uploadBodyIndex)
{
bodyIndexTexture.Copy(context.Context, bodyIndexFrame);
uploadBodyIndex = false;
}
if (uploadBody)
{
positionBuffer.Copy(context, bodyFrame.TrackedOnly().ClosestBodies());
uploadBody = false;
}
//Prepare compute shader
context.Context.ComputeShader.Set(computeShader);
context.Context.ComputeShader.SetShaderResource(0, cameraTexture.ShaderView);
context.Context.ComputeShader.SetShaderResource(1, bodyIndexTexture.RawView); //Set raw view here, we do not sample
context.Context.ComputeShader.SetUnorderedAccessView(0, pointCloudBuffer.UnorderedView, 0); //Don't forget to set count to 0
context.Context.Dispatch(Consts.DepthWidth / 8, Consts.DepthHeight / 8, 1); //No iDivUp here, since it's not needed
context.Context.ComputeShader.SetUnorderedAccessView(0, null); //Make runtime happy, and if we don't unbind we can't set as srv
context.Context.CopyStructureCount(indirectDrawBuffer.ArgumentBuffer, 0, pointCloudBuffer.UnorderedView);
//Draw filter buffer
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, pointCloudBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(1, positionBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(2, colorTableBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
nullGeom.Bind(context, null);
context.Context.DrawInstancedIndirect(indirectDrawBuffer.ArgumentBuffer, 0);
context.Context.VertexShader.SetShaderResource(0, null); //Make runtime happy
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
cameraBuffer.Dispose();
cameraTexture.Dispose();
bodyIndexTexture.Dispose();
provider.Dispose();
bodyIndexProvider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
positionBuffer.Dispose();
colorTableBuffer.Dispose();
swapChain.Dispose();
context.Dispose();
device.Dispose();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect Simple filtered 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);
ComputeShader computeShader = ShaderCompiler.CompileFromFile<ComputeShader>(device, "PointCloudFilter.fx", "CS_Filter");
VertexShader vertexShader = ShaderCompiler.CompileFromFile<VertexShader>(device, "PointCloudJointView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile<PixelShader>(device, "PointCloudJointView.fx", "PS");
BodyCameraPositionBuffer positionBuffer = new BodyCameraPositionBuffer(device);
DX11StructuredBuffer colorTableBuffer = DX11StructuredBuffer.CreateImmutable<Color4>(device, ColorTable);
DX11NullGeometry nullGeom = new DX11NullGeometry(device);
nullGeom.Topology = SharpDX.Direct3D.PrimitiveTopology.PointList;
InstancedIndirectBuffer indirectDrawBuffer = new InstancedIndirectBuffer(device);
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 uploadBodyIndex = false;
bool uploadBody = false;
CameraRGBFrameData rgbFrame = new CameraRGBFrameData();
DynamicCameraRGBTexture cameraTexture = new DynamicCameraRGBTexture(device);
KinectSensorDepthFrameProvider provider = new KinectSensorDepthFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { rgbFrame.Update(sensor.CoordinateMapper, args.DepthData); uploadCamera = true; };
BodyIndexFrameData bodyIndexFrame = null;
DynamicBodyIndexTexture bodyIndexTexture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider bodyIndexProvider = new KinectSensorBodyIndexFrameProvider(sensor);
bodyIndexProvider.FrameReceived += (sender, args) => { bodyIndexFrame = args.FrameData; uploadBodyIndex = true; };
AppendPointCloudBuffer pointCloudBuffer = new AppendPointCloudBuffer(device);
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider bodyFrameProvider = new KinectSensorBodyFrameProvider(sensor);
bodyFrameProvider.FrameReceived += (sender, args) => { bodyFrame = args.FrameData; uploadBody = 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, rgbFrame);
uploadCamera = false;
}
if (uploadBodyIndex)
{
bodyIndexTexture.Copy(context.Context, bodyIndexFrame);
uploadBodyIndex = false;
}
if (uploadBody)
{
positionBuffer.Copy(context, bodyFrame.TrackedOnly().ClosestBodies());
uploadBody = false;
}
//Prepare compute shader
context.Context.ComputeShader.Set(computeShader);
context.Context.ComputeShader.SetShaderResource(0, cameraTexture.ShaderView);
context.Context.ComputeShader.SetShaderResource(1, bodyIndexTexture.RawView); //Set raw view here, we do not sample
context.Context.ComputeShader.SetUnorderedAccessView(0, pointCloudBuffer.UnorderedView, 0); //Don't forget to set count to 0
context.Context.Dispatch(Consts.DepthWidth / 8, Consts.DepthHeight / 8, 1); //No iDivUp here, since it's not needed
context.Context.ComputeShader.SetUnorderedAccessView(0, null); //Make runtime happy, and if we don't unbind we can't set as srv
context.Context.CopyStructureCount(indirectDrawBuffer.ArgumentBuffer, 0, pointCloudBuffer.UnorderedView);
//Draw filter buffer
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, pointCloudBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(1, positionBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(2, colorTableBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
nullGeom.Bind(context, null);
context.Context.DrawInstancedIndirect(indirectDrawBuffer.ArgumentBuffer, 0);
context.Context.VertexShader.SetShaderResource(0, null); //Make runtime happy
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
cameraBuffer.Dispose();
cameraTexture.Dispose();
bodyIndexTexture.Dispose();
provider.Dispose();
bodyIndexProvider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
positionBuffer.Dispose();
colorTableBuffer.Dispose();
swapChain.Dispose();
context.Dispose();
device.Dispose();
}