public void ConverToGrayScale(byte[] pixelData)
{
var mapper = new CoordinateMapper(sensor);
var depthPoints = new DepthImagePoint[640 * 480];
// map depth and pixel data
mapper.MapColorFrameToDepthFrame(
ColorImageFormat.RgbResolution640x480Fps30,
DepthImageFormat.Resolution640x480Fps30,
depthImagePixels,
depthPoints);
for (int i = 0; i < depthPoints.Length; i++)
{
var pixelDataIndex = i * 4;
var point = depthPoints[i];
// if pointer is further than 800 mm and is not recognized as a valid point
if (point.Depth > 800 || KinectSensor.IsKnownPoint(point) == false)
{
var max = Math.Max(pixelData[pixelDataIndex], Math.Max(pixelData[pixelDataIndex + 1], pixelData[pixelDataIndex + 2]));
// use maximum value to set r g b values.
pixelData[pixelDataIndex] = max; //blue
pixelData[pixelDataIndex + 1] = max; //green
pixelData[pixelDataIndex + 2] = max; //red
}
}
}
private void GrayscaleData(byte[] pixelData)
{
var mapper = new CoordinateMapper(sensor);
var depthPoints = new DepthImagePoint[640 * 480];
mapper.MapColorFrameToDepthFrame(ColorImageFormat.InfraredResolution640x480Fps30, DepthImageFormat.Resolution640x480Fps30, depthImagePixels, depthPoints);
for (int i = 0; i < depthPoints.Length; i++)
{
var point = depthPoints[i];
if (point.Depth > 600 || !KinectSensor.IsKnownPoint(point))
{
var pixelDataIndex = i * 4;
var max = Math.Max(pixelData[pixelDataIndex], Math.Max(pixelData[pixelDataIndex + 1], pixelData[pixelDataIndex + 2]));
pixelData[pixelDataIndex] = max;
pixelData[pixelDataIndex + 1] = max;
pixelData[pixelDataIndex + 2] = max;
}
}
}
private void GrayscaleData(byte[] pixelData)
{
// Mapping depth to color
var mapper = new CoordinateMapper(sensor);
var depthPoints = new DepthImagePoint[640 * 480];
mapper.MapColorFrameToDepthFrame(ColorImageFormat.RgbResolution640x480Fps30, DepthImageFormat.Resolution640x480Fps30, depthImagePixels, depthPoints);
for (int i = 0; i < depthPoints.Length; i++)
{
var point = depthPoints[i];
if (point.Depth > 600 || KinectSensor.IsKnownPoint(point))
{
var pixelDataIndex = i * 4;
var maxValue = Math.Max(pixelData[pixelDataIndex], Math.Max(pixelData[pixelDataIndex + 1], pixelData[pixelDataIndex + 2]));
pixelData[pixelDataIndex] = maxValue;
pixelData[pixelDataIndex + 1] = maxValue;
pixelData[pixelDataIndex + 2] = maxValue;
}
}
}