基于qualcomm平台的kinect教程三之获取深度图

于 2016-09-08 14:46:41 发布
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本文链接：https://blog.csdn.net/ad3600/article/details/52471408
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在继《基于qualcomm平台的kinect教程一之windows配置篇》后，我们今天来获取kinect的深度图。


一.核心代码共享


//------------------------------------------------------------------------------
// 
   
   
    
    
//     Copyright (c) Microsoft Corporation.  All rights reserved.
// 
   
   
//------------------------------------------------------------------------------

#include "Depth-D3D.h"

// Global Variables
CDepthD3D g_Application;  // Application class

LRESULT CALLBACK WndProc(HWND, UINT, WPARAM, LPARAM);

/// 
/// Entry point for the application
/// 
/// handle to the application instance
/// always 0
/// command line arguments
/// whether to display minimized, maximized, or normally
/// 
   
   
    
    status
   
   
int WINAPI wWinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPWSTR lpCmdLine, int nCmdShow)
{
    UNREFERENCED_PARAMETER(hPrevInstance);
    UNREFERENCED_PARAMETER(lpCmdLine);

    if ( FAILED( g_Application.InitWindow(hInstance, nCmdShow) ) )
    {
        return 0;
    }

    if ( FAILED( g_Application.InitDevice() ) )
    {
        return 0;
    }

    if ( FAILED( g_Application.CreateFirstConnected() ) )
    {
        MessageBox(NULL, L"No ready Kinect found!", L"Error", MB_ICONHAND | MB_OK);
        return 0;
    }

    // Main message loop
    MSG msg = {0};
    while (WM_QUIT != msg.message)
    {
        if (PeekMessageW(&msg, NULL, 0, 0, PM_REMOVE))
        {
            TranslateMessage(&msg);
            DispatchMessageW(&msg);
        }
        else
        {
            g_Application.Render();
        }
    }
    
    return (int)msg.wParam;
}

/// 
/// Handles window messages, passes most to the class instance to handle
/// 
/// window message is for
/// message
/// message data
/// additional message data
/// 
   
   
    
    result of message processing
   
   
LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
{
    PAINTSTRUCT ps;

    g_Application.HandleMessages(hWnd, message, wParam, lParam);

    switch( message )
    {
        case WM_PAINT:
            BeginPaint(hWnd, &ps);
            EndPaint(hWnd, &ps);
            break;

        case WM_DESTROY:
            PostQuitMessage(0);
            break;      

        default:
            return DefWindowProc(hWnd, message, wParam, lParam);
    }

    return 0;
}

/// 
/// Constructor
/// 
CDepthD3D::CDepthD3D()
{
    // get resolution as DWORDS, but store as LONGs to avoid casts later
    DWORD width = 0;
    DWORD height = 0;

    NuiImageResolutionToSize(cDepthResolution, width, height);
    m_depthWidth  = static_cast
   
   
    
    (width);
    m_depthHeight = static_cast
    
    
     
     (height);

    m_hInst = NULL;
    m_hWnd = NULL;
    m_featureLevel = D3D_FEATURE_LEVEL_11_0;
    m_pd3dDevice = NULL;
    m_pImmediateContext = NULL;
    m_pSwapChain = NULL;
    m_pRenderTargetView = NULL;
    m_pDepthStencil = NULL;
    m_pDepthStencilView = NULL;
    m_pVertexLayout = NULL;
    m_pVertexBuffer = NULL;
    m_pCBChangesEveryFrame = NULL;

    m_pVertexShader = NULL;
    m_pPixelShader = NULL;
    m_pGeometryShader = NULL;

    m_xyScale = 0.0f;

    // Initial window resolution
    m_windowResX = 1280;
    m_windowResY = 960;

    m_pDepthTexture2D = NULL;
    m_pDepthTextureRV = NULL;

    m_hNextDepthFrameEvent = INVALID_HANDLE_VALUE;
    m_pDepthStreamHandle = INVALID_HANDLE_VALUE;

    m_bNearMode = false;

    m_bPaused = false;

    for (int i = 0; i < _MaxPlayerIndices; ++i)
    {
        m_minPlayerDepth[i] = NUI_IMAGE_DEPTH_MAXIMUM >> NUI_IMAGE_PLAYER_INDEX_SHIFT;
        m_maxPlayerDepth[i] = NUI_IMAGE_DEPTH_MINIMUM >> NUI_IMAGE_PLAYER_INDEX_SHIFT;
    }
}

/// 
     
     
/// Destructor
/// 
CDepthD3D::~CDepthD3D()
{
    if (NULL != m_pNuiSensor)
    {
        m_pNuiSensor->NuiShutdown();
        m_pNuiSensor->Release();
    }

    if (m_pImmediateContext) 
    {
        m_pImmediateContext->ClearState();
    }
    
    SAFE_RELEASE(m_pCBChangesEveryFrame);
    SAFE_RELEASE(m_pGeometryShader);
    SAFE_RELEASE(m_pPixelShader);
    SAFE_RELEASE(m_pVertexBuffer);
    SAFE_RELEASE(m_pVertexLayout);
    SAFE_RELEASE(m_pVertexShader);
    SAFE_RELEASE(m_pDepthStencil);
    SAFE_RELEASE(m_pDepthStencilView);
    SAFE_RELEASE(m_pDepthTexture2D);
    SAFE_RELEASE(m_pDepthTextureRV);
    SAFE_RELEASE(m_pRenderTargetView);
    SAFE_RELEASE(m_pSwapChain);
    SAFE_RELEASE(m_pImmediateContext);
    SAFE_RELEASE(m_pd3dDevice);

    CloseHandle(m_hNextDepthFrameEvent);
}

/// 
     
     
/// Register class and create window
/// 
/// 
     
     
      
      S_OK for success, or failure code
     
     
HRESULT CDepthD3D::InitWindow(HINSTANCE hInstance, int nCmdShow)
{
    // Register class
    WNDCLASSEX wcex;
    wcex.cbSize = sizeof(WNDCLASSEX);
    wcex.style = CS_HREDRAW | CS_VREDRAW;
    wcex.lpfnWndProc = WndProc;
    wcex.cbClsExtra = 0;
    wcex.cbWndExtra = 0;
    wcex.hInstance = hInstance;
    wcex.hIcon = LoadIconW(hInstance, (LPCTSTR)IDI_APP);
    wcex.hCursor = LoadCursorW(NULL, IDC_ARROW);
    wcex.hbrBackground = (HBRUSH)(COLOR_WINDOW + 1);
    wcex.lpszMenuName = NULL;
    wcex.lpszClassName = L"DepthD3DWindowClass";
    wcex.hIconSm = LoadIconW(wcex.hInstance, (LPCTSTR)IDI_APP);

    if ( !RegisterClassEx(&wcex) )
    {
        return E_FAIL;
    }

    // Create window
    m_hInst = hInstance;
    RECT rc = { 0, 0, m_windowResX, m_windowResY };
    AdjustWindowRect(&rc, WS_OVERLAPPEDWINDOW, FALSE);
    m_hWnd = CreateWindow( L"DepthD3DWindowClass", L"Depth-D3D", WS_OVERLAPPEDWINDOW,
                           CW_USEDEFAULT, CW_USEDEFAULT, rc.right - rc.left, rc.bottom - rc.top, NULL, NULL, hInstance,
                           NULL );
    if (NULL == m_hWnd)
    {
        return E_FAIL;
    }

    ShowWindow(m_hWnd, nCmdShow);

    return S_OK;
}

/// 
     
     
/// Handles window messages, used to process input
/// 
/// 
     
     window message is for
/// 
     
     message
/// 
     
     message data
/// 
     
     additional message data
/// 
     
     
      
      result of message processing
     
     
LRESULT CDepthD3D::HandleMessages(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam)
{
    m_camera.HandleMessages(hWnd, uMsg, wParam, lParam);

    switch(uMsg)
    {
        case WM_SIZE:          
            if (SIZE_MINIMIZED == wParam)
            {
                m_bPaused = true;
            }
            break;

        case WM_ACTIVATEAPP:
            if (wParam == TRUE)
            {
                m_bPaused = false;
            }
            break;

        case WM_KEYDOWN:
        {
            int nKey = static_cast
     
     
      
      (wParam);

            if (nKey == 'N')
            {
                ToggleNearMode();
            }
            break;
        }
    }

    return 0;
}

/// 
      
      
/// Create the first connected Kinect found 
/// 
/// 
      
      
       
       indicates success or failure
      
      
HRESULT CDepthD3D::CreateFirstConnected()
{
    INuiSensor * pNuiSensor;
    HRESULT hr;

    int iSensorCount = 0;
    hr = NuiGetSensorCount(&iSensorCount);
    if (FAILED(hr) ) { return hr; }

    // Look at each Kinect sensor
    for (int i = 0; i < iSensorCount; ++i)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr))
        {
            continue;
        }

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr)
        {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

    if (NULL == m_pNuiSensor)
    {
        return E_FAIL;
    }

    // Initialize the Kinect and specify that we'll be using depth
    hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX); 
    if (FAILED(hr) ) { return hr; }

    // Create an event that will be signaled when depth data is available
    m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

    // Open a depth image stream to receive depth frames
    hr = m_pNuiSensor->NuiImageStreamOpen(
        NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
        NUI_IMAGE_RESOLUTION_640x480,
        0,
        2,
        m_hNextDepthFrameEvent,
        &m_pDepthStreamHandle);
    if (FAILED(hr) ) { return hr; }

    // Start with near mode on
    ToggleNearMode();

    return hr;
}

/// 
      
      
/// Toggles between near and default mode
/// Does nothing on a non-Kinect for Windows device
/// 
/// 
      
      
       
       S_OK for success, or failure code
      
      
HRESULT CDepthD3D::ToggleNearMode()
{
    HRESULT hr = E_FAIL;

    if ( m_pNuiSensor )
    {
        hr = m_pNuiSensor->NuiImageStreamSetImageFrameFlags(m_pDepthStreamHandle, m_bNearMode ? 0 : NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE);

        if ( SUCCEEDED(hr) )
        {
            m_bNearMode = !m_bNearMode;
        }
    }

    return hr;
}

/// 
      
      
/// Compile and set layout for shaders
/// 
/// 
      
      
       
       S_OK for success, or failure code
      
      
HRESULT CDepthD3D::LoadShaders()
{
    // Compile the geometry shader
    ID3D10Blob* pBlob = NULL;
    HRESULT hr = CompileShaderFromFile(L"Depth-D3D.fx", "GS", "gs_4_0", &pBlob);
    if ( FAILED(hr) ) { return hr; };

    // Create the geometry shader
    hr = m_pd3dDevice->CreateGeometryShader(pBlob->GetBufferPointer(), pBlob->GetBufferSize(), NULL, &m_pGeometryShader);
    SAFE_RELEASE(pBlob);
    if ( FAILED(hr) ) { return hr; }

    // Compile the pixel shader
    hr = CompileShaderFromFile(L"Depth-D3D.fx", "PS", "ps_4_0", &pBlob);
    if ( FAILED(hr) ) { return hr; }

    // Create the pixel shader
    hr = m_pd3dDevice->CreatePixelShader(pBlob->GetBufferPointer(), pBlob->GetBufferSize(), NULL, &m_pPixelShader);
    SAFE_RELEASE(pBlob);
    if ( FAILED(hr) ) { return hr; }

    // Compile the vertex shader
    hr = CompileShaderFromFile(L"Depth-D3D.fx", "VS", "vs_4_0", &pBlob);
    if ( FAILED(hr) ) { return hr; }

    // Create the vertex shader
    hr = m_pd3dDevice->CreateVertexShader(pBlob->GetBufferPointer(), pBlob->GetBufferSize(), NULL, &m_pVertexShader);
    if ( SUCCEEDED(hr) )
    {
        // Define the vertex input layout
        D3D11_INPUT_ELEMENT_DESC layout[] = { { "POSITION", 0, DXGI_FORMAT_R16_SINT, 0, 0, D3D11_INPUT_PER_VERTEX_DATA, 0 } };

        // Create the vertex input layout
        hr = m_pd3dDevice->CreateInputLayout(layout, ARRAYSIZE(layout), pBlob->GetBufferPointer(), pBlob->GetBufferSize(), &m_pVertexLayout);
    }

    SAFE_RELEASE(pBlob);
    if ( FAILED(hr) ) { return hr; }

    // Set the input vertex layout
    // In this case we don't actually use it for anything
    // All the work is done in the geometry shader, but we need something here
    // We only need to set this once since we have only one vertex format
    m_pImmediateContext->IASetInputLayout(m_pVertexLayout);

    return hr;
}

/// 
      
      
/// Create Direct3D device and swap chain
/// 
/// 
      
      
       
       S_OK for success, or failure code
      
      
HRESULT CDepthD3D::InitDevice()
{
    HRESULT hr = S_OK;

    RECT rc;
    GetClientRect(m_hWnd, &rc);
    UINT width = rc.right - rc.left;
    UINT height = rc.bottom - rc.top;

    UINT createDeviceFlags = 0;

    // Likely won't be very performant in reference
    D3D_DRIVER_TYPE driverTypes[] =
    {
        D3D_DRIVER_TYPE_HARDWARE,
        D3D_DRIVER_TYPE_WARP,
        D3D_DRIVER_TYPE_REFERENCE,
    };
    UINT numDriverTypes = ARRAYSIZE(driverTypes);

    // DX10 or 11 devices are suitable
    D3D_FEATURE_LEVEL featureLevels[] =
    {
        D3D_FEATURE_LEVEL_11_0,
        D3D_FEATURE_LEVEL_10_1,
        D3D_FEATURE_LEVEL_10_0,
    };
    UINT numFeatureLevels = ARRAYSIZE(featureLevels);

    DXGI_SWAP_CHAIN_DESC sd = {0};
    sd.BufferCount = 1;
    sd.BufferDesc.Width = width;
    sd.BufferDesc.Height = height;
    sd.BufferDesc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
    sd.BufferDesc.RefreshRate.Numerator = 60;
    sd.BufferDesc.RefreshRate.Denominator = 1;
    sd.BufferUsage = DXGI_USAGE_RENDER_TARGET_OUTPUT;
    sd.OutputWindow = m_hWnd;
    sd.SampleDesc.Count = 1;
    sd.SampleDesc.Quality = 0;
    sd.Windowed = TRUE;

    for (UINT driverTypeIndex = 0; driverTypeIndex < numDriverTypes; ++driverTypeIndex)
    {
        hr = D3D11CreateDeviceAndSwapChain( NULL, driverTypes[driverTypeIndex], NULL, createDeviceFlags, featureLevels, numFeatureLevels,
                                            D3D11_SDK_VERSION, &sd, &m_pSwapChain, &m_pd3dDevice, &m_featureLevel, &m_pImmediateContext );
        if ( SUCCEEDED(hr) )
        {
            break;
        }
    }

    if ( FAILED(hr) )
    {
        MessageBox(NULL, L"Could not create a Direct3D 10 or 11 device.", L"Error", MB_ICONHAND | MB_OK);
        return hr;
    }

    // Create a render target view
    ID3D11Texture2D* pBackBuffer = NULL;
    hr = m_pSwapChain->GetBuffer(0, __uuidof(ID3D11Texture2D), (LPVOID*)&pBackBuffer);
    if ( FAILED(hr) ) { return hr; }

    hr = m_pd3dDevice->CreateRenderTargetView(pBackBuffer, NULL, &m_pRenderTargetView);
    pBackBuffer->Release();
    if ( FAILED(hr) ) { return hr; }

    // Create depth stencil texture
    D3D11_TEXTURE2D_DESC descDepth = {0};
    descDepth.Width = width;
    descDepth.Height = height;
    descDepth.MipLevels = 1;
    descDepth.ArraySize = 1;
    descDepth.Format = DXGI_FORMAT_D24_UNORM_S8_UINT;
    descDepth.SampleDesc.Count = 1;
    descDepth.SampleDesc.Quality = 0;
    descDepth.Usage = D3D11_USAGE_DEFAULT;
    descDepth.BindFlags = D3D11_BIND_DEPTH_STENCIL;
    descDepth.CPUAccessFlags = 0;
    descDepth.MiscFlags = 0;
    hr = m_pd3dDevice->CreateTexture2D(&descDepth, NULL, &m_pDepthStencil);
    if ( FAILED(hr) ) { return hr; }

    // Create the depth stencil view
    D3D11_DEPTH_STENCIL_VIEW_DESC descDSV;
    ZeroMemory( &descDSV, sizeof(descDSV) );
    descDSV.Format = descDepth.Format;
    descDSV.ViewDimension = D3D11_DSV_DIMENSION_TEXTURE2D;
    descDSV.Texture2D.MipSlice = 0;
    hr = m_pd3dDevice->CreateDepthStencilView(m_pDepthStencil, &descDSV, &m_pDepthStencilView);
    if ( FAILED(hr) ) { return hr; }

    m_pImmediateContext->OMSetRenderTargets(1, &m_pRenderTargetView, m_pDepthStencilView);

    // Create depth texture
    D3D11_TEXTURE2D_DESC depthTexDesc = {0};
    depthTexDesc.Width = m_depthWidth;
    depthTexDesc.Height = m_depthHeight;
    depthTexDesc.MipLevels = 1;
    depthTexDesc.ArraySize = 1;
    depthTexDesc.Format = DXGI_FORMAT_R32_SINT;
    depthTexDesc.SampleDesc.Count = 1;
    depthTexDesc.SampleDesc.Quality = 0;
    depthTexDesc.Usage = D3D11_USAGE_DYNAMIC;
    depthTexDesc.BindFlags = D3D11_BIND_SHADER_RESOURCE;
    depthTexDesc.CPUAccessFlags = D3D11_CPU_ACCESS_WRITE;
    depthTexDesc.MiscFlags = 0;

    hr = m_pd3dDevice->CreateTexture2D(&depthTexDesc, NULL, &m_pDepthTexture2D);
    if ( FAILED(hr) ) { return hr; }
    
    hr = m_pd3dDevice->CreateShaderResourceView(m_pDepthTexture2D, NULL, &m_pDepthTextureRV);
    if ( FAILED(hr) ) { return hr; }

    // Setup the viewport
    D3D11_VIEWPORT vp;
    vp.Width = static_cast
      
      
       
       (width);
    vp.Height = static_cast
       
       
         (height); vp.MinDepth = 0.0f; vp.MaxDepth = 1.0f; vp.TopLeftX = 0; vp.TopLeftY = 0; m_pImmediateContext->RSSetViewports(1, &vp); hr = LoadShaders(); if ( FAILED(hr) ) { MessageBox(NULL, L"Could not load shaders.", L"Error", MB_ICONHAND | MB_OK); return hr; } // Create the vertex buffer D3D11_BUFFER_DESC bd = {0}; bd.Usage = D3D11_USAGE_DEFAULT; bd.ByteWidth = sizeof(short); bd.BindFlags = D3D11_BIND_VERTEX_BUFFER; bd.CPUAccessFlags = 0; hr = m_pd3dDevice->CreateBuffer(&bd, NULL, &m_pVertexBuffer); if ( FAILED(hr) ) { return hr; } // Set vertex buffer UINT stride = 0; UINT offset = 0; m_pImmediateContext->IASetVertexBuffers(0, 1, &m_pVertexBuffer, &stride, &offset); // Set primitive topology m_pImmediateContext->IASetPrimitiveTopology(D3D11_PRIMITIVE_TOPOLOGY_POINTLIST); // Create the constant buffers bd.Usage = D3D11_USAGE_DEFAULT; bd.ByteWidth = sizeof(CBChangesEveryFrame); bd.BindFlags = D3D11_BIND_CONSTANT_BUFFER; bd.CPUAccessFlags = 0; hr = m_pd3dDevice->CreateBuffer(&bd, NULL, &m_pCBChangesEveryFrame); if ( FAILED(hr) ) { return hr; } // Initialize the projection matrix m_projection = XMMatrixPerspectiveFovLH(XM_PIDIV4, width / static_cast 
        
          (height), 0.1f, 100.f); // Calculate correct XY scaling factor so that our vertices are correctly placed in the world // This helps us to unproject from the Kinect's depth camera back to a 3d world // Since the Horizontal and Vertical FOVs are proportional with the sensor's resolution along those axes // We only need to do this for horizontal // I.e. tan(horizontalFOV)/depthWidth == tan(verticalFOV)/depthHeight // Essentially we're computing the vector that light comes in on for a given pixel on the depth camera // We can then scale our x&y depth position by this and the depth to get how far along that vector we are const float DegreesToRadians = 3.14159265359f / 180.0f; m_xyScale = tanf(NUI_CAMERA_DEPTH_NOMINAL_HORIZONTAL_FOV * DegreesToRadians * 0.5f) / (m_depthWidth * 0.5f); // Set rasterizer state to disable backface culling D3D11_RASTERIZER_DESC rasterDesc; rasterDesc.FillMode = D3D11_FILL_SOLID; rasterDesc.CullMode = D3D11_CULL_NONE; rasterDesc.FrontCounterClockwise = true; rasterDesc.DepthBias = false; rasterDesc.DepthBiasClamp = 0; rasterDesc.SlopeScaledDepthBias = 0; rasterDesc.DepthClipEnable = true; rasterDesc.ScissorEnable = false; rasterDesc.MultisampleEnable = false; rasterDesc.AntialiasedLineEnable = false; ID3D11RasterizerState* pState = NULL; hr = m_pd3dDevice->CreateRasterizerState(&rasterDesc, &pState); if ( FAILED(hr) ) { return hr; } m_pImmediateContext->RSSetState(pState); SAFE_RELEASE(pState); return S_OK; } /// 
          /// Process depth data received from Kinect ///  /// 
         
           S_OK for success, or failure code 
          HRESULT CDepthD3D::ProcessDepth() { NUI_IMAGE_FRAME imageFrame; HRESULT hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pDepthStreamHandle, 0, &imageFrame); if ( FAILED(hr) ) { return hr; } INuiFrameTexture* pFrameTexture; hr = m_pNuiSensor->NuiImageFrameGetDepthImagePixelFrameTexture(m_pDepthStreamHandle, &imageFrame, nullptr, &pFrameTexture); if ( FAILED(hr) ) { return hr; } NUI_LOCKED_RECT LockedRect; hr = pFrameTexture->LockRect(0, &LockedRect, NULL, 0); if ( FAILED(hr) ) { return hr; } short minPlayerDepthThisFrame[_MaxPlayerIndices]; short maxPlayerDepthThisFrame[_MaxPlayerIndices]; short minDepth = 1; short maxDepth = SHRT_MAX; for (int player = 0; player < _MaxPlayerIndices; ++player) { minPlayerDepthThisFrame[player] = maxDepth; maxPlayerDepthThisFrame[player] = minDepth; } // copy to our d3d 11 depth texture D3D11_MAPPED_SUBRESOURCE msT; hr = m_pImmediateContext->Map(m_pDepthTexture2D, NULL, D3D11_MAP_WRITE_DISCARD, NULL, &msT); if ( FAILED(hr) ) { return hr; } memcpy(msT.pData, LockedRect.pBits, LockedRect.size); m_pImmediateContext->Unmap(m_pDepthTexture2D, NULL); NUI_DEPTH_IMAGE_PIXEL * pBufferRun = reinterpret_cast 
         
           (LockedRect.pBits); NUI_DEPTH_IMAGE_PIXEL * pBufferRunEnd = pBufferRun + LockedRect.size/sizeof(NUI_DEPTH_IMAGE_PIXEL); while (pBufferRun != pBufferRunEnd) { NUI_DEPTH_IMAGE_PIXEL depthPixel = *pBufferRun++; if (depthPixel.depth <= maxDepth && depthPixel.depth >= minDepth) { USHORT depth = depthPixel.depth; USHORT player = depthPixel.playerIndex; if (depth < minPlayerDepthThisFrame[player]) { minPlayerDepthThisFrame[player] = depth; } else if (depth > maxPlayerDepthThisFrame[player]) { maxPlayerDepthThisFrame[player] = depth; } } } hr = pFrameTexture->UnlockRect(0); if ( FAILED(hr) ) { return hr; }; hr = m_pNuiSensor->NuiImageStreamReleaseFrame(m_pDepthStreamHandle, &imageFrame); // perform temporal range smoothing // these min/max values get passed to the shader // so it can interpolate over the min and max rather than the full possible range // this makes detail easier to see for (int player = 0; player < _MaxPlayerIndices; ++player) { minPlayerDepthThisFrame[player]; maxPlayerDepthThisFrame[player]; const float _LastFrameMinMaxWeight = 9.f; const float _TotalMinMaxWeight = 10.f; m_minPlayerDepth[player] = (m_minPlayerDepth[player] * _LastFrameMinMaxWeight + minPlayerDepthThisFrame[player]) / _TotalMinMaxWeight; m_maxPlayerDepth[player] = (m_maxPlayerDepth[player] * _LastFrameMinMaxWeight + maxPlayerDepthThisFrame[player]) / _TotalMinMaxWeight; } return hr; } /// 
           /// Renders a frame ///  /// 
          
            S_OK for success, or failure code 
           HRESULT CDepthD3D::Render() { if (m_bPaused) { return S_OK; } if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) ) { ProcessDepth(); } // Clear the back buffer static float ClearColor[4] = { 0.0f, 0.0f, 0.0f, 1.0f }; m_pImmediateContext->ClearRenderTargetView(m_pRenderTargetView, ClearColor); // Clear the depth buffer to 1.0 (max depth) m_pImmediateContext->ClearDepthStencilView(m_pDepthStencilView, D3D11_CLEAR_DEPTH, 1.0f, 0); // Update the view matrix m_camera.Update(); XMMATRIX viewProjection = XMMatrixMultiply(m_camera.View, m_projection); // Update variables that change once per frame CBChangesEveryFrame cb; cb.ViewProjection = XMMatrixTranspose(viewProjection); for (int i = 0; i < _MaxPlayerIndices; ++i) { // precalculate the denominator used by the shader and pass it in the z coordinate float depthRange = m_maxPlayerDepth[i] - m_minPlayerDepth[i]; float log2DepthRange = log( m_maxPlayerDepth[i] - m_minPlayerDepth[i] ) / log(2.f); cb.PlayerDepthMinMax[i] = XMVectorSet(m_minPlayerDepth[i], m_maxPlayerDepth[i], depthRange, log2DepthRange); } cb.XYScale = XMFLOAT4(m_xyScale, -m_xyScale, 0.f, 0.f); m_pImmediateContext->UpdateSubresource(m_pCBChangesEveryFrame, 0, NULL, &cb, 0, 0); // Set up shaders m_pImmediateContext->VSSetShader(m_pVertexShader, NULL, 0); m_pImmediateContext->GSSetShader(m_pGeometryShader, NULL, 0); m_pImmediateContext->GSSetConstantBuffers(0, 1, &m_pCBChangesEveryFrame); m_pImmediateContext->GSSetShaderResources(0, 1, &m_pDepthTextureRV); m_pImmediateContext->PSSetShader(m_pPixelShader, NULL, 0); // Draw the scene m_pImmediateContext->Draw(m_depthWidth * m_depthHeight, 0); // Present our back buffer to our front buffer return m_pSwapChain->Present(0, 0); }


二.实测效果图(偷拍这位童鞋勤奋的背影，哈哈！~)




三.例程工程分享：http://pan.baidu.com/s/1i50PWf7


肖大叔
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