//Show initial image
private async Task <BitmapSource> ShowInitImage(Capture capture, Transformation transform)
{
BitmapSource initImageBitmap = null;
// Create a BitmapSource for the unmodified color image.
// Creating the BitmapSource is slow, so do it asynchronously on another thread
Task <BitmapSource> createColorBitmapTask = new Task <BitmapSource>(() =>
{
BitmapSource source = capture.Color.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Compute the colorized output bitmap on a thread pool thread
Task <BitmapSource> createDepthBitmapTask = new Task <BitmapSource>(() =>
{
int colorWidth = this.KinectDevice.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int colorHeight = this.KinectDevice.GetCalibration().ColorCameraCalibration.ResolutionHeight;
// Allocate image buffers for us to manipulate
var transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.Depth16, colorWidth, colorHeight);
var outputColorImage = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight);
// 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;
}
}
BitmapSource source = outputColorImage.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
if (this.sysState.DeviceDepthMode)
{
createDepthBitmapTask.Start();
initImageBitmap = await createDepthBitmapTask.ConfigureAwait(false);
}
else
{
createColorBitmapTask.Start();
initImageBitmap = await createColorBitmapTask.ConfigureAwait(false);
}
return(initImageBitmap);
}
