Kinect学习笔记（五）——更专业的深度图

       这一节的内容就是把深度图转换为彩色图，然后不再使用硬解码，而是继续采用sdk里面封装好的功能来减少测量的误差，以及避免转换为灰度图时，出现绿巨人时候的掉针的bug.

      下面直接贴代码吧。

private byte[]convertDepthFrameToColorFrame2(short[] depthFrame,DepthImageStream depthSteam)

        {

            byte[] depthFrame32 = new byte[depthSteam.FrameWidth * depthSteam.FrameHeight * Bgr32BytesPerPixel];



            //通过常量获得有效视距，不用硬解码（就是自己定义距离）

            int tooNearDepth = depthSteam.TooNearDepth;

            int tooFarDepth = depthSteam.TooFarDepth;

            int unknownDepth = depthSteam.UnknownDepth;

            for(int i16=0,i32=0;i16<depthFrame.Length&&i32<depthFrame32.Length;i16++,i32+=4)

            {

                int player = depthFrame[i16] & DepthImageFrame.PlayerIndexBitmask;

                int realDepth = depthFrame[i16] >> DepthImageFrame.PlayerIndexBitmaskWidth;

                //通过位运算，将13位的深度图，裁剪为8位，对于显示足够了。

                byte intensity = (byte)(~(realDepth >> 4));



                if(player==0&&realDepth==0)

                {

                    //白色

                    depthFrame32[i32 + RedIndex] = 255;

                    depthFrame32[i32 + GreenIndex] = 255;

                    depthFrame32[i32 + BlueIndex] = 255;

                }

                else if(player==0&&realDepth==tooFarDepth)

                {

                    //深紫色

                    depthFrame32[i32 + RedIndex] = 66;

                    depthFrame32[i32 + GreenIndex] = 0;

                    depthFrame32[i32 + BlueIndex] = 66;

                }

                else if (player == 0 && realDepth == unknownDepth)

                {

                    //深棕色

                    depthFrame32[i32 + RedIndex] = 66;

                    depthFrame32[i32 + GreenIndex] = 66;

                    depthFrame32[i32 + BlueIndex] = 33;

                }

                else

                {

                    depthFrame32[i32 + RedIndex] = (byte)(intensity >> IntensityShiftByPlayerR[player]);

                    depthFrame32[i32 + GreenIndex] = (byte)(intensity >> IntensityShiftByPlayerG[player]);

                    depthFrame32[i32 + BlueIndex] = (byte)(intensity >> IntensityShiftByPlayerB[player]);

                }

            }



            return depthFrame32;



        }

void _kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)

        {

           using(DepthImageFrame depthFrame = e.OpenDepthImageFrame())

            {

               if(depthFrame!=null)

               {

                   short[] depthPixelData = new short[depthFrame.PixelDataLength];

                   depthFrame.CopyPixelDataTo(depthPixelData);

                   byte[] pixels = this.convertDepthFrameToColorFrame2(depthPixelData, ((KinectSensor)sender).DepthStream);



                   int stride = depthFrame.Width * 4;



                   imageDepth.Source = BitmapSource.Create(depthFrame.Width, depthFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixels, stride);



                    



               }

            }

        }

再附上效果图