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 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 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();
}