/// <summary>
/// Render Fusion depth float frame to UI
/// </summary>
/// <param name="depthFloatFrame">Fusion depth float frame</param>
/// <param name="depthPixels">Pixel buffer for depth float frame with pixel in depth</param>
/// <param name="colorPixels">Pixel buffer for depth float frame with pixel in colors</param>
/// <param name="bitmap">Bitmap contains depth float frame data for rendering</param>
/// <param name="image">UI image component to render depth float frame to</param>
private static void RenderDepthFloatImage(FusionFloatImageFrame depthFloatFrame, ref float[] depthPixels, ref int[] colorPixels, ref WriteableBitmap bitmap, System.Windows.Controls.Image image)
{
if (null == depthFloatFrame)
{
return;
}
if (null == depthPixels || depthFloatFrame.PixelDataLength != depthPixels.Length)
{
// Create depth pixel array of correct format
depthPixels = new float[depthFloatFrame.PixelDataLength];
}
if (null == colorPixels || depthFloatFrame.PixelDataLength != colorPixels.Length)
{
// Create colored pixel array of correct format
colorPixels = new int[depthFloatFrame.PixelDataLength];
}
if (null == bitmap || depthFloatFrame.Width != bitmap.Width || depthFloatFrame.Height != bitmap.Height)
{
// Create bitmap of correct format
bitmap = new WriteableBitmap(depthFloatFrame.Width, depthFloatFrame.Height, 96.0, 96.0, PixelFormats.Bgr32, null);
// Set bitmap as source to UI image object
image.Source = bitmap;
}
depthFloatFrame.CopyPixelDataTo(depthPixels);
// Calculate color pixels based on depth of each pixel
float range = 4.0f;
float minRange = 0.0f;
for (int i = 0; i < depthPixels.Length; i++)
{
float depth = depthPixels[i];
int intensity = (depth >= minRange) ? ((int)(((depth - minRange) / range) * 256.0f) % 256) : 0;
colorPixels[i] = 0;
colorPixels[i] += intensity; // blue
intensity *= 256;
colorPixels[i] += intensity; // green
intensity *= 256;
colorPixels[i] += intensity; // red
}
// Copy colored pixels to bitmap
bitmap.WritePixels(
new Int32Rect(0, 0, depthFloatFrame.Width, depthFloatFrame.Height),
colorPixels,
bitmap.PixelWidth * sizeof(int),
0);
}
/// <summary>
/// Render Fusion depth float frame to UI
/// </summary>
/// <param name="depthFloatFrame">Fusion depth float frame</param>
/// <param name="bitmap">Bitmap contains depth float frame data for rendering</param>
/// <param name="image">UI image component to render depth float frame to</param>
private void RenderDepthFloatImage(
FusionFloatImageFrame depthFloatFrame, ref WriteableBitmap bitmap, System.Windows.Controls.Image image)
{
if (null == depthFloatFrame)
{
return;
}
// PixelDataLength is the number of pixels, not bytes
if (null == this.depthFloatFramePixelsArgb || depthFloatFrame.PixelDataLength != this.depthFloatFramePixelsArgb.Length)
{
// Create colored pixel array of correct format
this.depthFloatFramePixelsArgb = new int[depthFloatFrame.PixelDataLength];
}
if (null == this.depthFloatFrameDepthPixels || depthFloatFrame.PixelDataLength != this.depthFloatFrameDepthPixels.Length)
{
// Create colored pixel array of correct format
this.depthFloatFrameDepthPixels = new float[depthFloatFrame.PixelDataLength];
}
if (null == bitmap || depthFloatFrame.Width != bitmap.Width || depthFloatFrame.Height != bitmap.Height)
{
// Create bitmap of correct format
bitmap = new WriteableBitmap(depthFloatFrame.Width, depthFloatFrame.Height, 96.0, 96.0, PixelFormats.Bgr32, null);
// Set bitmap as source to UI image object
image.Source = bitmap;
}
depthFloatFrame.CopyPixelDataTo(this.depthFloatFrameDepthPixels);
// Calculate color of pixels based on depth of each pixel
float range = 4.0f;
float oneOverRange = 1.0f / range;
float minRange = 0.0f;
Parallel.For(
0,
depthFloatFrame.Height,
y =>
{
int index = y * depthFloatFrame.Width;
for (int x = 0; x < depthFloatFrame.Width; ++x, ++index)
{
float depth = this.depthFloatFrameDepthPixels[index];
int intensity = (depth >= minRange) ? ((int)(((depth - minRange) * oneOverRange) * 256.0f) % 256) : 0;
this.depthFloatFramePixelsArgb[index] = (intensity << 16) | (intensity << 8) | intensity; // argb
}
});
// Copy colored pixels to bitmap
bitmap.WritePixels(
new Int32Rect(0, 0, depthFloatFrame.Width, depthFloatFrame.Height),
this.depthFloatFramePixelsArgb,
bitmap.PixelWidth * sizeof(int),
0);
}
/// <summary>
/// Render Fusion AlignDepthFloatToReconstruction float deltas frame to UI
/// </summary>
/// <param name="alignDeltasFloatFrame">Fusion depth float frame</param>
/// <param name="bitmap">Bitmap contains float frame data for rendering</param>
/// <param name="image">UI image component to render float frame to</param>
private void RenderAlignDeltasFloatImage(FusionFloatImageFrame alignDeltasFloatFrame, ref WriteableBitmap bitmap, System.Windows.Controls.Image image)
{
if (null == alignDeltasFloatFrame)
{
return;
}
if (null == this.deltaFromReferenceFrameFloatPixels || alignDeltasFloatFrame.PixelDataLength != this.deltaFromReferenceFrameFloatPixels.Length)
{
// Create depth pixel array of correct format
this.deltaFromReferenceFrameFloatPixels = new float[alignDeltasFloatFrame.PixelDataLength];
}
if (null == this.deltaFromReferenceFramePixels || alignDeltasFloatFrame.PixelDataLength != this.deltaFromReferenceFramePixels.Length)
{
// Create colored pixel array of correct format
this.deltaFromReferenceFramePixels = new int[alignDeltasFloatFrame.PixelDataLength];
}
if (null == bitmap || alignDeltasFloatFrame.Width != bitmap.Width || alignDeltasFloatFrame.Height != bitmap.Height)
{
// Create bitmap of correct format
bitmap = new WriteableBitmap(alignDeltasFloatFrame.Width, alignDeltasFloatFrame.Height, 96.0, 96.0, PixelFormats.Bgr32, null);
// Set bitmap as source to UI image object
image.Source = bitmap;
}
alignDeltasFloatFrame.CopyPixelDataTo(this.deltaFromReferenceFrameFloatPixels);
Parallel.For(
0,
alignDeltasFloatFrame.Height,
y =>
{
int index = y * alignDeltasFloatFrame.Width;
for (int x = 0; x < alignDeltasFloatFrame.Width; ++x, ++index)
{
float residue = this.deltaFromReferenceFrameFloatPixels[index];
if (residue < 1.0f)
{
this.deltaFromReferenceFramePixels[index] = (byte)(255.0f * ClampFloat(1.0f - residue, 0.0f, 1.0f)); // blue
this.deltaFromReferenceFramePixels[index] |= ((byte)(255.0f * ClampFloat(1.0f - Math.Abs(residue), 0.0f, 1.0f))) << 8; // green
this.deltaFromReferenceFramePixels[index] |= ((byte)(255.0f * ClampFloat(1.0f + residue, 0.0f, 1.0f))) << 16; // red
}
else
{
this.deltaFromReferenceFramePixels[index] = 0;
}
}
});
// Copy colored pixels to bitmap
bitmap.WritePixels(
new Int32Rect(0, 0, alignDeltasFloatFrame.Width, alignDeltasFloatFrame.Height),
this.deltaFromReferenceFramePixels,
bitmap.PixelWidth * sizeof(int),
0);
}