private static Bitmap ColorImageFrameToBitmap(ColorImageFrame colorFrame)
{
byte[] pixelBuffer = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixelBuffer);
Bitmap bitmapFrame = new Bitmap(colorFrame.Width, colorFrame.Height, PixelFormat.Format32bppRgb);
BitmapData bitmapData = bitmapFrame.LockBits(new Rectangle(0, 0, colorFrame.Width, colorFrame.Height), ImageLockMode.WriteOnly, bitmapFrame.PixelFormat);
IntPtr intPointer = bitmapData.Scan0;
Marshal.Copy(pixelBuffer, 0, intPointer, colorFrame.PixelDataLength);
bitmapFrame.UnlockBits(bitmapData);
colorFrame.Dispose();
return bitmapFrame;
}
/// <summary>
/// Sets the desired picture box image. Can do so for up to 4 images.
/// </summary>
/// <param name="imageIndex">The index of the picture box image to set.</param>
/// <param name="frame">The Kinect's color image frame to use.</param>
void setImage(int imageIndex, ColorImageFrame frame)
{
// Check that the frame is not empty.
if (frame != null)
{
// Create an array of bytes to hold the data.
byte[] pixelData = new byte[frame.PixelDataLength];
// Copy the pixel data to the array.
frame.CopyPixelDataTo(pixelData);
// Create a bmp to hold the actual image.
Bitmap bmp = new Bitmap(frame.Width, frame.Height, PixelFormat.Format32bppRgb);
// Create the bitmap data to hold the data for the image.
BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, frame.Width, frame.Height), ImageLockMode.WriteOnly, bmp.PixelFormat);
// Create the pointer to the bmp data.
IntPtr ptr = bmpData.Scan0;
// Then copy the actual data to the bmp.
System.Runtime.InteropServices.Marshal.Copy(pixelData, 0, ptr, frame.PixelDataLength);
// Unlock the bmp data bits so they can be used.
bmp.UnlockBits(bmpData);
// Switch through the image index.
switch (imageIndex)
{
case 0:
// Set the color image for the 1st picture box to the bmp image.
this.kinectPB1.Image = bmp;
break;
case 1:
// Set the color image for the 2nd picture box to the bmp image.
this.kinectPB2.Image = bmp;
break;
case 2:
// Set the color image for the 3rd picture box to the bmp image.
this.kinectPB3.Image = bmp;
break;
case 3:
// Set the color image for the 4th picture box to the bmp image.
this.kinectPB4.Image = bmp;
break;
}
// Dispose of the frame.
frame.Dispose();
}
}
/// <summary>
/// Sets the data of ColorVideo.
/// </summary>
/// <param name="sender"></param>
/// <param name="colorImageFrame"></param>
public void KinectColorFrameReady(object sender, ColorImageFrameReadyEventArgs colorImageFrame)
{
//Get raw image
ColorVideoFrame = colorImageFrame.OpenColorImageFrame();
if (ColorVideoFrame != null)
{
//Create array for pixel data and copy it from the image frame
PixelData = new Byte[ColorVideoFrame.PixelDataLength];
ColorVideoFrame.CopyPixelDataTo(PixelData);
//Convert RGBA to BGRA, Kinect and XNA uses different color-formats.
BgraPixelData = new Byte[ColorVideoFrame.PixelDataLength];
for (int i = 0; i < PixelData.Length; i += 4)
{
BgraPixelData[i] = PixelData[i + 2];
BgraPixelData[i + 1] = PixelData[i + 1];
BgraPixelData[i + 2] = PixelData[i];
BgraPixelData[i + 3] = (Byte)255; //The video comes with 0 alpha so it is transparent
}
// Create a texture and assign the realigned pixels
ColorVideo = new Texture2D(Graphics.GraphicsDevice, ColorVideoFrame.Width, ColorVideoFrame.Height);
ColorVideo.SetData(BgraPixelData);
ColorVideoFrame.Dispose();
}
}
private void processFrame(ColorImageFrame colorFrame)
{
//using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
bool colorFormat = this.rgbImageFormat != colorFrame.Format;
if (colorFormat)
{
width = colorFrame.Width;
height = colorFrame.Height;
this.colorpixelData = new byte[colorFrame.PixelDataLength];
this.colorFrameRGB = new byte[colorFrame.Width * colorFrame.Height * Bgr32BytesPerPixel];
this.processedBitmap = new WriteableBitmap(colorFrame.Width, colorFrame.Height, 96, 96, PixelFormats.Bgr32, null);
//this.procImage.Source = this.processedBitmap; // do now or later?
//Console.WriteLine("Frame written");
}
colorFrame.CopyPixelDataTo(this.colorpixelData);
// Output raw image
this.outputColorBitmap = new WriteableBitmap(colorFrame.Width, colorFrame.Height, 96, 96, PixelFormats.Bgr32, null);
this.outputColorBitmap.WritePixels(
(new Int32Rect(0, 0, colorFrame.Width, colorFrame.Height)),
colorpixelData,
colorFrame.Width * Bgr32BytesPerPixel,
0);
this.raw_image.Source = this.outputColorBitmap;
// PROCESS THE DATA //
colorpixelData = convertToHSL(colorpixelData);
frameProcessor(colorpixelData);
//processedcolorpixelData = colorpixelData;
// Output processed image
this.processedBitmap.WritePixels(
new Int32Rect(0, 0, colorFrame.Width, colorFrame.Height),
processedcolorpixelData,
colorFrame.Width * Bgr32BytesPerPixel,
0);
this.rgbImageFormat = colorFrame.Format;
this.procImage.Source = this.processedBitmap;
//Console.WriteLine("Frame written");
colorFrame.Dispose();
}
}
}
private ImageSource getHeadshot(Skeleton sk, ColorImageFrame colorFrame)
{
Joint head = sk.Joints[JointType.Head];
// Magic numbers, head position seems to scale with depth, these values are calibrated for a specific depth
Joint scaledHead = head.ScaleTo(640, 480, 1.25f, 0.9f);
int x = (int)scaledHead.Position.X;
int y = (int)scaledHead.Position.Y;
if (colorFrame == null)
{
return null;
}
byte[] pixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixels);
int stride = colorFrame.Width * 4;
BitmapSource frame = BitmapSource.Create(colorFrame.Width, colorFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixels, stride);
if (x - 32 >= 0 && y - 16 >= 0 && x - 32 < 640-65 && y - 16 < 480-65)
{
x = x - 32;
y = y - 16;
CroppedBitmap pic = new CroppedBitmap(frame, new Int32Rect(x, y, 65, 65));
colorFrame.Dispose();
return pic;
}
colorFrame.Dispose();
return null;
}
