static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect color sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool doUpload = false;
ColorRGBAFrameData currentData = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider provider = new KinectSensorColorRGBAFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { currentData = args.FrameData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape) { doQuit = true; } };
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
colorTexture.Copy(context, currentData);
doUpload = false;
}
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTri(context, colorTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorTexture.Dispose();
provider.Dispose();
sensor.Close();
}
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();
}
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 background subtraction sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
PixelShader depthPixelShader = ShaderCompiler.CompileFromFile<PixelShader>(device, "FilterDepthView.fx", "PS_Sample");
PixelShader rgbPixelShader = ShaderCompiler.CompileFromFile<PixelShader>(device, "FilterRGBView.fx", "PS_Sample");
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
bool doQuit = false;
bool swapMode = false;
bool uploadColor = false;
bool uploadBodyIndex = false;
//We need color and body index for subtraction
ColorRGBAFrameData colorData = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider colorProvider = new KinectSensorColorRGBAFrameProvider(sensor);
colorProvider.FrameReceived += (sender, args) => { colorData = args.FrameData; uploadColor = true; };
BodyIndexFrameData bodyIndexData = null;
DynamicBodyIndexTexture bodyIndexTexture = new DynamicBodyIndexTexture(device);
KinectSensorBodyIndexFrameProvider bodyIndexProvider = new KinectSensorBodyIndexFrameProvider(sensor);
bodyIndexProvider.FrameReceived += (sender, args) => { bodyIndexData = args.FrameData; uploadBodyIndex = true; };
bool uploadColorToDepth = false;
bool uploadDepthToColor = false;
ColorToDepthFrameData colorToDepthData = new ColorToDepthFrameData();
DepthToColorFrameData depthToColorData = new DepthToColorFrameData();
KinectSensorDepthFrameProvider depthProvider = new KinectSensorDepthFrameProvider(sensor);
depthProvider.FrameReceived += (sender, args) =>
{
if (!swapMode)
{
colorToDepthData.Update(sensor.CoordinateMapper, args.DepthData);
uploadColorToDepth = true;
}
else
{
depthToColorData.Update(sensor.CoordinateMapper, args.DepthData);
uploadDepthToColor = true;
}
};
DynamicColorToDepthTexture colorToDepthTexture = new DynamicColorToDepthTexture(device);
DynamicDepthToColorTexture depthToColorTexture = new DynamicDepthToColorTexture(device);
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape) { doQuit = true; } if (args.KeyCode == Keys.Space) { swapMode = !swapMode; } };
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (uploadColor)
{
colorTexture.Copy(context, colorData);
uploadColor = false;
}
if (uploadBodyIndex)
{
bodyIndexTexture.Copy(context, bodyIndexData);
uploadBodyIndex = false;
}
if (uploadColorToDepth)
{
colorToDepthTexture.Copy(context, colorToDepthData);
uploadColorToDepth = false;
}
if (uploadDepthToColor)
{
depthToColorTexture.Copy(context, depthToColorData);
uploadDepthToColor = false;
}
ShaderResourceView view = swapMode ? depthToColorTexture.ShaderView : colorToDepthTexture.ShaderView;
PixelShader shader = swapMode ? depthPixelShader : rgbPixelShader;
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTriVS(context);
context.Context.PixelShader.Set(shader);
context.Context.PixelShader.SetShaderResource(0, colorTexture.ShaderView);
//Note: make sure to use normalized view as we use untyped resource here
context.Context.PixelShader.SetShaderResource(1, bodyIndexTexture.NormalizedView);
context.Context.PixelShader.SetShaderResource(2, view);
context.Context.PixelShader.SetSampler(0, device.SamplerStates.LinearClamp);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
depthProvider.Dispose();
colorToDepthData.Dispose();
depthToColorData.Dispose();
colorToDepthTexture.Dispose();
depthToColorTexture.Dispose();
colorTexture.Dispose();
colorProvider.Dispose();
bodyIndexData.Dispose();
bodyIndexProvider.Dispose();
depthPixelShader.Dispose();
rgbPixelShader.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect hd face sample with color map");
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, "ColorHdFaceView.fx", "VS");
PixelShader pixelShader = ShaderCompiler.CompileFromFile<PixelShader>(device, "ColorHdFaceView.fx", "PS");
HdFaceIndexBuffer faceIndexBuffer = new HdFaceIndexBuffer(device, 1);
DynamicHdFaceStructuredBuffer faceVertexBuffer = new DynamicHdFaceStructuredBuffer(device, 1);
DynamicRgbSpaceFaceStructuredBuffer faceRgbBuffer = new DynamicRgbSpaceFaceStructuredBuffer(device, 1);
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, 0.5f);
camera.Projection.Transpose();
camera.View.Transpose();
ConstantBuffer<cbCamera> cameraBuffer = new ConstantBuffer<cbCamera>(device);
cameraBuffer.Update(context, ref camera);
bool doQuit = false;
bool doUpload = false;
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider provider = new KinectSensorBodyFrameProvider(sensor);
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape) { doQuit = true; } };
FaceModel currentFaceModel = new FaceModel();
FaceAlignment currentFaceAlignment = new FaceAlignment();
SingleHdFaceProcessor hdFaceProcessor = new SingleHdFaceProcessor(sensor);
hdFaceProcessor.HdFrameReceived += (sender, args) => { currentFaceModel = args.FaceModel; currentFaceAlignment = args.FaceAlignment; doUpload = 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) =>
{
bodyFrame = args.FrameData;
var body = bodyFrame.TrackedOnly().ClosestBodies().FirstOrDefault();
if (body != null)
{
hdFaceProcessor.AssignBody(body);
}
else
{
hdFaceProcessor.Suspend();
}
};
context.Context.Rasterizer.State = device.RasterizerStates.WireFrame;
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
var vertices = currentFaceModel.CalculateVerticesForAlignment(currentFaceAlignment).ToArray();
var vertRgb = new ColorSpacePoint[vertices.Length];
sensor.CoordinateMapper.MapCameraPointsToColorSpace(vertices, vertRgb);
faceVertexBuffer.Copy(context, vertices);
faceRgbBuffer.Copy(context, vertRgb);
doUpload = false;
}
if (uploadColor)
{
colorTexture.Copy(context, currentData);
uploadColor = false;
}
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
if (hdFaceProcessor.IsValid)
{
context.RenderTargetStack.Push(swapChain);
context.Context.VertexShader.SetShaderResource(0, faceVertexBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(1, faceRgbBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
context.Context.PixelShader.SetShaderResource(0, colorTexture.ShaderView);
context.Context.PixelShader.SetSampler(0, device.SamplerStates.LinearClamp);
//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, 1);
context.RenderTargetStack.Pop();
}
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorProvider.Dispose();
colorTexture.Dispose();
cameraBuffer.Dispose();
faceIndexBuffer.Dispose();
faceVertexBuffer.Dispose();
faceRgbBuffer.Dispose();
provider.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect RGB Joint 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, "ColorJointView.fx", "VS");
SharpDX.D3DCompiler.ShaderSignature signature;
VertexShader vertexShader = ShaderCompiler.CompileFromFile(device, "ColorJointView.fx", "VS_Color", out signature);
PixelShader pixelShader = ShaderCompiler.CompileFromFile<PixelShader>(device, "ColorJointView.fx", "PS_Color");
DX11IndexedGeometry circle = device.Primitives.Segment(new Segment()
{
Resolution = 32
});
DX11InstancedIndexedDrawer drawer = new DX11InstancedIndexedDrawer();
circle.AssignDrawer(drawer);
InputLayout layout;
var bc = new ShaderBytecode(signature);
circle.ValidateLayout(bc, out layout);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
Color4[] statusColor = new Color4[]
{
Color.Red,
Color.Yellow,
Color.Green
};
//Note cbuffer should have a minimum size of 16 bytes, so we create verctor4 instead of vector2
SharpDX.Vector4 jointSize = new SharpDX.Vector4(0.04f,0.07f,0.0f,1.0f);
ConstantBuffer<SharpDX.Vector4> cbSize = new ConstantBuffer<SharpDX.Vector4>(device);
cbSize.Update(context, ref jointSize);
DX11StructuredBuffer colorTableBuffer = DX11StructuredBuffer.CreateImmutable<Color4>(device, statusColor);
bool doQuit = false;
bool doUpload = false;
bool uploadImage = false;
KinectBody[] bodyFrame = null;
BodyColorPositionBuffer positionBuffer = new BodyColorPositionBuffer(device);
BodyJointStatusBuffer statusBuffer = new BodyJointStatusBuffer(device);
KinectSensorBodyFrameProvider provider = new KinectSensorBodyFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { bodyFrame = args.FrameData; doUpload = true; };
ColorRGBAFrameData rgbFrame = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider colorProvider = new KinectSensorColorRGBAFrameProvider(sensor);
colorProvider.FrameReceived += (sender, args) => { rgbFrame = args.FrameData; uploadImage = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape) { doQuit = true; } };
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
var tracked = bodyFrame.TrackedOnly();
var colorSpace = tracked.Select(kb => new ColorSpaceKinectJoints(kb, sensor.CoordinateMapper));
positionBuffer.Copy(context, colorSpace);
statusBuffer.Copy(context, tracked);
drawer.InstanceCount = colorSpace.Count() * Microsoft.Kinect.Body.JointCount;
}
if (uploadImage)
{
colorTexture.Copy(context, rgbFrame);
}
context.RenderTargetStack.Push(swapChain);
context.Context.ClearRenderTargetView(swapChain.RenderView, SharpDX.Color.Black);
device.Primitives.ApplyFullTri(context, colorTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
circle.Bind(context, layout);
context.Context.PixelShader.Set(pixelShader);
context.Context.VertexShader.Set(vertexShader);
context.Context.VertexShader.SetShaderResource(0, positionBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(1, statusBuffer.ShaderView);
context.Context.VertexShader.SetShaderResource(2, colorTableBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cbSize.Buffer);
circle.Draw(context);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorProvider.Dispose();
colorTexture.Dispose();
positionBuffer.Dispose();
statusBuffer.Dispose();
colorTableBuffer.Dispose();
cbSize.Dispose();
provider.Dispose();
circle.Dispose();
layout.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
}
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, "ColoredPointCloudFilter.fx", "CS_Filter");
VertexShader vertexShader = ShaderCompiler.CompileFromFile<VertexShader>(device, "ColoredPointCloudView.fx", "VS_Indirect");
PixelShader pixelShader = ShaderCompiler.CompileFromFile<PixelShader>(device, "ColoredPointCloudView.fx", "PS");
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 uploadRgb = false;
CameraRGBFrameData rgbFrame = 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) => { rgbFrame.Update(sensor.CoordinateMapper, args.DepthData); depthToColorFrame.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; };
//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; };
CounterPointCloudBuffer pointCloudBuffer = new CounterPointCloudBuffer(device);
ColorPointCloudBuffer colorBuffer = new ColorPointCloudBuffer(device);
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);
depthToColorTexture.Copy(context.Context, depthToColorFrame);
uploadCamera = false;
}
if (uploadBodyIndex)
{
bodyIndexTexture.Copy(context.Context, bodyIndexFrame);
uploadBodyIndex = false;
}
if (uploadRgb)
{
colorTexture.Copy(context.Context, colorFrame);
uploadRgb = 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.SetShaderResource(2, colorTexture.ShaderView);
context.Context.ComputeShader.SetShaderResource(3, depthToColorTexture.ShaderView);
context.Context.ComputeShader.SetSampler(0, device.SamplerStates.LinearClamp);
context.Context.ComputeShader.SetUnorderedAccessView(0, pointCloudBuffer.UnorderedView, 0); //Don't forget to set count to 0
context.Context.ComputeShader.SetUnorderedAccessView(1, colorBuffer.UnorderedView);
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.ComputeShader.SetUnorderedAccessView(1, null);
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, colorBuffer.ShaderView);
context.Context.VertexShader.SetConstantBuffer(0, cameraBuffer.Buffer);
nullGeom.Bind(context, null);
context.Context.DrawInstancedIndirect(indirectDrawBuffer.ArgumentBuffer, 0);
//Make runtime happy
context.Context.VertexShader.SetShaderResource(0, null);
context.Context.VertexShader.SetShaderResource(1, null);
context.RenderTargetStack.Pop();
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
cameraBuffer.Dispose();
cameraTexture.Dispose();
bodyIndexTexture.Dispose();
provider.Dispose();
bodyIndexProvider.Dispose();
pointCloudBuffer.Dispose();
colorBuffer.Dispose();
colorTexture.Dispose();
colorProvider.Dispose();
depthToColorFrame.Dispose();
depthToColorTexture.Dispose();
computeShader.Dispose();
pixelShader.Dispose();
vertexShader.Dispose();
sensor.Close();
}
static void Main()
{
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
RenderForm form = new RenderForm("Kinect color sample");
RenderDevice device = new RenderDevice(SharpDX.Direct3D11.DeviceCreationFlags.BgraSupport);
RenderContext context = new RenderContext(device);
DX11SwapChain swapChain = DX11SwapChain.FromHandle(device, form.Handle);
//Allow to draw using direct2d on top of swapchain
var context2d = new SharpDX.Direct2D1.DeviceContext(swapChain.Texture.QueryInterface<SharpDX.DXGI.Surface>());
//Call release on texture since queryinterface does an addref
Marshal.Release(swapChain.Texture.NativePointer);
var whiteBrush = new SharpDX.Direct2D1.SolidColorBrush(context2d, SharpDX.Color.White);
KinectSensor sensor = KinectSensor.GetDefault();
sensor.Open();
KinectBody[] bodyFrame = null;
KinectSensorBodyFrameProvider bodyProvider = new KinectSensorBodyFrameProvider(sensor);
bool doQuit = false;
bool doUpload = false;
ColorRGBAFrameData currentData = null;
DynamicColorRGBATexture colorTexture = new DynamicColorRGBATexture(device);
KinectSensorColorRGBAFrameProvider provider = new KinectSensorColorRGBAFrameProvider(sensor);
provider.FrameReceived += (sender, args) => { currentData = args.FrameData; doUpload = true; };
form.KeyDown += (sender, args) => { if (args.KeyCode == Keys.Escape) { doQuit = true; } };
FaceFrameResult frameResult = null;
SingleFaceProcessor faceProcessor = new SingleFaceProcessor(sensor);
faceProcessor.FaceResultAcquired += (sender, args) => { frameResult = args.FrameResult; };
Func<PointF, Vector2> map = new Func<PointF, Vector2>((p) =>
{
float x = p.X / 1920.0f * (float)swapChain.Width;
float y = p.Y / 1080.0f * (float)swapChain.Height;
return new Vector2(x,y);
});
Func<float,float, Vector2> mapxy = new Func<float,float, Vector2>((px,py) =>
{
float x = px / 1920.0f * (float)swapChain.Width;
float y = py / 1080.0f * (float)swapChain.Height;
return new Vector2(x,y);
});
bodyProvider.FrameReceived += (sender, args) =>
{
bodyFrame = args.FrameData;
var body = bodyFrame.TrackedOnly().ClosestBodies().FirstOrDefault();
if (body != null)
{
faceProcessor.AssignBody(body);
}
else
{
faceProcessor.Suspend();
}
};
RenderLoop.Run(form, () =>
{
if (doQuit)
{
form.Dispose();
return;
}
if (doUpload)
{
colorTexture.Copy(context, currentData);
}
context.RenderTargetStack.Push(swapChain);
device.Primitives.ApplyFullTri(context, colorTexture.ShaderView);
device.Primitives.FullScreenTriangle.Draw(context);
context.RenderTargetStack.Pop();
if (frameResult != null)
{
context2d.BeginDraw();
var colorBound = frameResult.FaceBoundingBoxInColorSpace;
RectangleF rect = new RectangleF();
Vector2 topLeft = mapxy(colorBound.Left, colorBound.Top);
Vector2 bottomRight = mapxy(colorBound.Right, colorBound.Bottom);
rect.Top = topLeft.Y;
rect.Bottom = bottomRight.Y;
rect.Left = topLeft.X;
rect.Right = bottomRight.X;
context2d.DrawRectangle(rect, whiteBrush, 3.0f);
foreach (PointF point in frameResult.FacePointsInColorSpace.Values)
{
var ellipse = new SharpDX.Direct2D1.Ellipse()
{
Point = map(point),
RadiusX = 5,
RadiusY = 5
};
context2d.FillEllipse(ellipse, whiteBrush);
}
context2d.EndDraw();
}
swapChain.Present(0, SharpDX.DXGI.PresentFlags.None);
});
swapChain.Dispose();
context.Dispose();
device.Dispose();
colorTexture.Dispose();
provider.Dispose();
bodyProvider.Dispose();
faceProcessor.Dispose();
whiteBrush.Dispose();
context2d.Dispose();
sensor.Close();
}