public static Bitmap ToBitmap(this short[] depthData, int width, int height, int minimumDistance, Color highlightColor)
{
if (depthData != null)
{
var colorFrame = new byte[height * width * 4];
for (int colorIndex = 0, depthIndex = 0; colorIndex < colorFrame.Length; colorIndex += 4, depthIndex++)
{
var intensity = ImageFrameCommonExtensions.CalculateIntensityFromDepth(depthData[depthIndex]);
colorFrame[colorIndex + ImageFrameCommonExtensions.RedIndex] = intensity;
colorFrame[colorIndex + ImageFrameCommonExtensions.GreenIndex] = intensity;
colorFrame[colorIndex + ImageFrameCommonExtensions.BlueIndex] = intensity;
if (depthData[depthIndex] <= minimumDistance && depthData[depthIndex] > 0)
{
var mult = intensity / 255f;
var color = Color.FromArgb(
(int)(highlightColor.R * mult),
(int)(highlightColor.G * mult),
(int)(highlightColor.B * mult));
colorFrame[colorIndex + ImageFrameCommonExtensions.RedIndex] = color.R;
colorFrame[colorIndex + ImageFrameCommonExtensions.GreenIndex] = color.G;
colorFrame[colorIndex + ImageFrameCommonExtensions.BlueIndex] = color.B;
}
}
return(colorFrame.ToBitmap(width, height));
}
return(null);
}
public static Bitmap ToBitmap(this short[] depthData, int width, int height, int minimumDistance, Color highlightColor)
{
if (depthData == null)
{
return(null);
}
//depthData must be array of distances already
var depthColors = new byte[height * width * 4];
for (int colorIndex = 0, depthIndex = 0; colorIndex < depthColors.Length; colorIndex += 4, depthIndex++)
{
//get the depth, then calculate the intensity (0-255 based on the depth)
//depth of -1 = dark brown
if (depthData[depthIndex] == -1)
{
// dark brown
depthColors[colorIndex + ImageFrameCommonExtensions.RedIndex] = 66;
depthColors[colorIndex + ImageFrameCommonExtensions.GreenIndex] = 66;
depthColors[colorIndex + ImageFrameCommonExtensions.BlueIndex] = 33;
}
else
{
var intensity = ImageFrameCommonExtensions.CalculateIntensityFromDepth(depthData[depthIndex]);
depthColors[colorIndex + ImageFrameCommonExtensions.RedIndex] = intensity;
depthColors[colorIndex + ImageFrameCommonExtensions.GreenIndex] = intensity;
depthColors[colorIndex + ImageFrameCommonExtensions.BlueIndex] = intensity;
if (depthData[depthIndex] <= minimumDistance && depthData[depthIndex] > 0)
{
var mult = intensity / 255f;
var color = Color.FromArgb(
(int)(highlightColor.R * mult),
(int)(highlightColor.G * mult),
(int)(highlightColor.B * mult));
depthColors[colorIndex + ImageFrameCommonExtensions.RedIndex] = color.R;
depthColors[colorIndex + ImageFrameCommonExtensions.GreenIndex] = color.G;
depthColors[colorIndex + ImageFrameCommonExtensions.BlueIndex] = color.B;
}
}
}
return(depthColors.ToBitmap(width, height));
}
