// Event Handler for DepthFrameReady events
// (A new frame of DepthStream data is available)
private void KinectDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
// Get the current DepthImageFrame
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
try
{
// Get the depth data from the DepthImageFrame
depthFrame.CopyDepthImagePixelDataTo(depthStreamData);
int minDepth = depthFrame.MinDepth;
int maxDepth = depthFrame.MaxDepth;
// Loop through each pixel and convert to RGB
int colorPixelIndex = 0;
for (int i = 0; i < depthStreamData.Length; ++i)
{
short depth = depthStreamData[i].Depth;
byte intensity = (byte)(depth >= minDepth && depth <= maxDepth ? depth : 0);
depthRgbData[colorPixelIndex++] = intensity;
depthRgbData[colorPixelIndex++] = intensity;
depthRgbData[colorPixelIndex++] = intensity;
colorPixelIndex++;
}
// Write the converted depth data to the depthBitmap image
depthBitmap.WritePixels(new Int32Rect(0, 0, depthBitmap.PixelWidth, depthBitmap.PixelHeight), depthRgbData, depthBitmap.PixelWidth * sizeof(int), 0);
// Dispatch the DepthDataChange event
DepthDataChangeEventArgs d = new DepthDataChangeEventArgs(depthStreamData, depthRgbData);
DepthDataChange(d);
}
catch (NullReferenceException ex)
{
Console.WriteLine(ex.TargetSite + " - " + ex.Message);
}
}
}
}
protected virtual void DepthDataChange(DepthDataChangeEventArgs e)
{
if (DepthDataChanged != null)
{
DepthDataChanged(this, e);
}
}