// 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();
}
protected override void LoadContent()
{
_spriteBatch = ToDisposeContent(new SpriteBatch(GraphicsDevice));
_depthRectangle = new Rectangle(0, 0, RoomAliveToolkit.Kinect2Calibration.depthImageWidth, RoomAliveToolkit.Kinect2Calibration.depthImageHeight);
int depthWidth = RoomAliveToolkit.Kinect2Calibration.depthImageWidth;
int depthHeight = RoomAliveToolkit.Kinect2Calibration.depthImageHeight;
_roomAliveEffect = Content.Load <Effect>("Holographic");
_fromUintEffect = Content.Load <Effect>("FromUint");
_gaussianEffect = Content.Load <Effect>("BilateralFilter");
_colorSamplerState = ToDisposeContent(SharpDX.Toolkit.Graphics.SamplerState.New(this.GraphicsDevice, new SamplerStateDescription()
{
Filter = Filter.MinMagMipLinear,
AddressU = TextureAddressMode.Border,
AddressV = TextureAddressMode.Border,
AddressW = TextureAddressMode.Border,
BorderColor = new SharpDX.Color4(0.5f, 0.5f, 0.5f, 1.0f),
ComparisonFunction = Comparison.Never,
MaximumAnisotropy = 16,
MipLodBias = 0,
MinimumLod = -float.MaxValue,
MaximumLod = float.MaxValue
}));
List <VertexPosition> vertices = new List <VertexPosition>();
List <int> indices = new List <int>();
// vertex buffer
if (_camera.calibration != null)
{
var table = _camera.calibration.ComputeDepthFrameToCameraSpaceTable();
for (int i = 0; i < depthHeight; i++)
{
for (int j = 0; j < depthWidth; j++)
{
var point = table[RoomAliveToolkit.Kinect2Calibration.depthImageWidth * i + j];
vertices.Add(new VertexPosition(new SharpDX.Vector4(point.X, point.Y, j, i)));
}
}
for (int i = 0; i < depthHeight - 1; i++)
{
for (int j = 0; j < depthWidth - 1; j++)
{
int baseIndex = depthWidth * i + j;
indices.Add(baseIndex);
indices.Add(baseIndex + depthWidth + 1);
indices.Add(baseIndex + 1);
indices.Add(baseIndex);
indices.Add(baseIndex + depthWidth);
indices.Add(baseIndex + depthWidth + 1);
}
}
_vertexArray = vertices.ToArray();
_indexArray = indices.ToArray();
// build the plane geometry of the specified size and subdivision segments
_geometry = ToDisposeContent(new GeometricPrimitive <VertexPosition>(GraphicsDevice, _vertexArray, _indexArray, true));
}
else
{
Console.WriteLine("Camera '{0}' is missing calibration", _camera.name);
Visible = false;
Enabled = false;
}
if (!string.IsNullOrEmpty(_colorImageFilePath))
{
_tex2DColorImage1 = SharpDX.Toolkit.Graphics.Texture2D.Load(GraphicsDevice, _colorImageFilePath, TextureFlags.ShaderResource, ResourceUsage.Dynamic);
_tex2DColorImage2 = SharpDX.Toolkit.Graphics.Texture2D.Load(GraphicsDevice, _colorImageFilePath, TextureFlags.ShaderResource, ResourceUsage.Dynamic);
}
_imagingFactory = new SharpDX.WIC.ImagingFactory();
if (!string.IsNullOrEmpty(_depthImageFilePath))
{
var depthImage = new RoomAliveToolkit.ShortImage(RoomAliveToolkit.Kinect2Calibration.depthImageWidth, RoomAliveToolkit.Kinect2Calibration.depthImageHeight);
RoomAliveToolkit.ProjectorCameraEnsemble.LoadFromTiff(_imagingFactory, depthImage, _depthImageFilePath);
UpdateDepthImage(this.GraphicsDevice, depthImage.DataIntPtr);
}
var floatDepthImageTextureDesc = new Texture2DDescription()
{
Width = depthWidth,
Height = depthHeight,
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,
};
_floatDepthImageFinal = ToDisposeContent(RenderTarget2D.New(GraphicsDevice, floatDepthImageTextureDesc));
_floatDepthImageSubpass = ToDisposeContent(RenderTarget2D.New(GraphicsDevice, floatDepthImageTextureDesc));
base.LoadContent();
}
