/// <summary>
/// Event handler for Kinect sensor's DepthFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
// Copy the pixel data from the image to a temporary array
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
// calculate the mapping
CoordinateMapper mapper = new CoordinateMapper(this.sensor);
mapper.MapDepthFrameToColorFrame(
DepthImageFormat.Resolution640x480Fps30,
this.depthPixels,
ColorImageFormat.RgbResolution640x480Fps30,
colorCoordinates);
// Get the min and max reliable depth for the current frame
int minDepth = depthFrame.MinDepth;
int maxDepth = depthFrame.MaxDepth;
// Convert the depth to RGB
int colorPixelIndex = 0;
for (int i = 0; i < this.depthPixels.Length; ++i)
{
// Get the depth for this pixel
short depth = depthPixels[i].Depth;
this.depthPixelsCopy[i] = (depth >= minDepth && depth <= maxDepth ? depth : (short)0);
// To convert to a byte, we're discarding the most-significant
// rather than least-significant bits.
// We're preserving detail, although the intensity will "wrap."
// Values outside the reliable depth range are mapped to 0 (black).
// Note: Using conditionals in this loop could degrade performance.
// Consider using a lookup table instead when writing production code.
// See the KinectDepthViewer class used by the KinectExplorer sample
// for a lookup table example.
long intensity = (depth >= minDepth && depth <= maxDepth ? depth : 0);
double value = (double)(intensity - minDepth) / (maxDepth - minDepth);
// Write out blue byte
this.depthPseudoColorPixels[colorPixelIndex++] = intensity == 0 ? (byte)100 : (byte)(255 * Blue(value));
// Write out green byte
this.depthPseudoColorPixels[colorPixelIndex++] = intensity == 0 ? (byte)100 : (byte)(255 * Green(value));
// Write out red byte
this.depthPseudoColorPixels[colorPixelIndex++] = intensity == 0 ? (byte)100 : (byte)(255 * Red(value));
// We're outputting BGR, the last byte in the 32 bits is unused so skip it
// If we were outputting BGRA, we would write alpha here.
++colorPixelIndex;
}
// Write the pixel data into our bitmap
this.depthPseudoColorBitmap.WritePixels(
new Int32Rect(0, 0, this.depthPseudoColorBitmap.PixelWidth, this.depthPseudoColorBitmap.PixelHeight),
this.depthPseudoColorPixels,
this.depthPseudoColorBitmap.PixelWidth * sizeof(int),
0);
for (int i = 0; i < this.sensor.DepthStream.FrameHeight; i++)
{
for (int j = 0; j < this.sensor.DepthStream.FrameWidth; j++)
{
int pos1 = i * this.sensor.DepthStream.FrameWidth + j;
int pos2 = i * this.sensor.DepthStream.FrameWidth + (this.sensor.DepthStream.FrameWidth - 1 - j);
short depth = depthPixels[pos2].Depth;
depth = (depth >= minDepth && depth <= maxDepth ? depth : (short) 0);
this.depthPixelsCopy[pos1] = depth;
}
}
}
}
}
