public void Update(ImageFrameReadyEventArgs e)
{
if (depthFrame32 == null)
{
depthFrame32 = new byte[e.ImageFrame.Image.Width * e.ImageFrame.Image.Height * 4];
}
ConvertDepthFrame(e.ImageFrame.Image.Bits);
if (DepthBitmap == null)
{
DepthBitmap = new WriteableBitmap(e.ImageFrame.Image.Width, e.ImageFrame.Image.Height, 96, 96, PixelFormats.Bgra32, null);
}
DepthBitmap.Lock();
int stride = DepthBitmap.PixelWidth * DepthBitmap.Format.BitsPerPixel / 8;
Int32Rect dirtyRect = new Int32Rect(0, 0, DepthBitmap.PixelWidth, DepthBitmap.PixelHeight);
DepthBitmap.WritePixels(dirtyRect, depthFrame32, stride, 0);
DepthBitmap.AddDirtyRect(dirtyRect);
DepthBitmap.Unlock();
RaisePropertyChanged(() => DepthBitmap);
}
//Draw Depth Frame
public static void DrawDepthFrame(TDepthFrame depthFrame)
{
int minDepth = depthFrame.MinDepth;
int maxDepth = depthFrame.MaxDepth;
// Convert the depth to RGB
int colorPixelIndex = 0;
for (int i = 0; i < depthFrame.DepthData.Length; ++i)
{
short depth = depthFrame.DepthData[i];
byte intensity = (byte)(depth >= minDepth && depth <= maxDepth ? depth : 0);
ColorPixels[colorPixelIndex++] = intensity;
ColorPixels[colorPixelIndex++] = intensity;
ColorPixels[colorPixelIndex++] = intensity;
++colorPixelIndex;
}
DepthBitmap.WritePixels(
new Int32Rect(0, 0, DepthBitmap.PixelWidth, DepthBitmap.PixelHeight),
ColorPixels,
DepthBitmap.PixelWidth * sizeof(int),
0);
}