/// <summary>
/// This will capture a Depth enabled Color Image and save it as <see cref="Bitmap"/>
/// Picture will be colorized with Red where there is no depth data, and Green
/// where there is depth data at more than 1.5 meters
/// </summary>
/// <param name="kinectSensor">The initialized Kinect Sensor object</param>
/// <returns>Returns the Picture from the Color Camera as <see cref="Bitmap"/></returns>
public static async Task <Bitmap> CreateDepthColorBitmapAsync(this Device kinectSensor)
{
try
{
//Declare calibration settings
int colorWidth;
int colorHeight;
//Check for initialized Camera
try
{
colorWidth = kinectSensor.GetCalibration().ColorCameraCalibration.ResolutionWidth;
colorHeight = kinectSensor.GetCalibration().ColorCameraCalibration.ResolutionHeight;
}
catch (Exception e)
{
//Camera not initialized
throw new CameraNotInitializedException("The Camera was not initialized correctly.", e);
}
// Configure transformation module in order to transform depth enabled picture as bitmap
using (Microsoft.Azure.Kinect.Sensor.Image transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.Depth16, colorWidth, colorHeight))
using (Microsoft.Azure.Kinect.Sensor.Image outputColorImage = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight))
using (Transformation transform = kinectSensor.GetCalibration().CreateTransformation())
{
// Wait for a capture on a thread pool thread
using (Capture capture = await Task.Run(() => { return(kinectSensor.GetCapture()); }).ConfigureAwait(true))
{
// Compute the colorized output bitmap on a thread pool thread
Task <System.Drawing.Bitmap> createDepthColorBitmapTask = Task.Run(() =>
{
// Transform the depth image to the perspective of the color camera
transform.DepthImageToColorCamera(capture, transformedDepth);
// Get Span<T> references to the pixel buffers for fast pixel access.
Span <ushort> depthBuffer = transformedDepth.GetPixels <ushort>().Span;
Span <BGRA> colorBuffer = capture.Color.GetPixels <BGRA>().Span;
Span <BGRA> outputColorBuffer = outputColorImage.GetPixels <BGRA>().Span;
// Create an output color image with data from the depth image
for (int i = 0; i < colorBuffer.Length; i++)
{
// The output image will be the same as the input color image,
// but colorized with Red where there is no depth data, and Green
// where there is depth data at more than 1.5 meters
outputColorBuffer[i] = colorBuffer[i];
if (depthBuffer[i] == 0)
{
outputColorBuffer[i].R = 255;
}
else if (depthBuffer[i] > 1500)
{
outputColorBuffer[i].G = 255;
}
}
return(outputColorImage.CreateBitmap());
});
// Wait for bitmap and return
var depthColorBitmap = await createDepthColorBitmapTask.ConfigureAwait(true);
return(depthColorBitmap);
}
}
}
catch (Exception e)
{
throw e;
}
}
