/*
* Event which triggers when all frames are ready from the kinect
* (will operate at the speed of the slowest camera)
**/
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
// Display an actual slice
// (smaller range should only display things within that range)
//Range can be tweaked via sliders on application
depthFrame.depthSlice(sliceBitmap, (int)minSlider.Value, (int)maxSlider.Value);
}
if (colorFrame != null)
{
//Initializes a byte array to the size
//of colorFrame's pixelDataLength
byte[] colorPixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixels);
//Number of pixels in a row (based on bgr32 format)
int stride = colorFrame.Width * 4;
/*
* Creates a bitmapsource based on the colorFrame coming
* from the kinect (in bgr32 using our calculated stride)
* and displays it to the image frame named colorDisplay
**/
colorDisplay.Source =
BitmapSource.Create
(colorFrame.Width, colorFrame.Height,
96, 96, PixelFormats.Bgr32, null, colorPixels, stride);
}
}
}
}
