void sensor_DepthFrameReady(AllFramesReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame == null)
{
return;
}
//turn raw data into an array of distances;
var depthArray = depthFrame.ToDepthArray();
MidPointDistanceViaGetDistanceText.Text = depthFrame.GetDistance(depthFrame.Width / 2, depthFrame.Height / 2).ToString();
//image
DepthImageWithMinDistance.Source = depthArray.ToBitmapSource(depthFrame.Width, depthFrame.Height,
_minDistance, Colors.Red);
//image
DepthImage.Source = depthFrame.ToBitmapSource();
if (_saveDepthFrame)
{
_saveDepthFrame = false;
depthFrame.ToBitmapSource().Save(DateTime.Now.ToString("yyyyMMddHHmmss") + "_depth.jpg", ImageFormat.Jpeg);
}
}
}
void RuntimeDepthFrameReady(AllFramesReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame == null)
{
return;
}
//turn raw data into array of distances
var depthArray = depthFrame.ToDepthArray();
//get image
DepthImage.Image = depthFrame.ToBitmap();
//get midpoint
MidPointDistanceViaGetDistanceText.Text = depthFrame.GetDistance(depthFrame.Width / 2, depthFrame.Height / 2).ToString();
//image
DepthImageWithMinDistance.Image = depthArray.ToBitmap(depthFrame.Width, depthFrame.Height, _minDistance, Color.FromArgb(255, 255, 0, 0));
if (_saveDepthFrame)
{
_saveDepthFrame = false;
depthFrame.ToBitmap().Save(DateTime.Now.ToString("yyyyMMddHHmmss") + "_depth.jpg", ImageFormat.Jpeg);
}
}
}
private Bitmap CreateBitmapFromSensor(DepthImageFrame frame)
{
int width = frame.Width;
int height = frame.Height;
var pixelData = frame.ToDepthArray();
//var pixelData = new short[frame.PixelDataLength];
//frame.CopyPixelDataTo(pixelData);
var bmp = new Bitmap(frame.Width, frame.Height);
for (int y = 0; y < height; y++)
{
int basePositionY = y * width;
for (int x = 0; x < width; x++)
{
int realOositionY = basePositionY + x;
byte red = (byte)(pixelData[realOositionY] >> 8);
byte green = 125;
byte blue = (byte)(pixelData[realOositionY] & 255);;
bmp.SetPixel(x, y, Color.FromArgb(red, green, blue));
}
}
return(bmp);
}
