kinect 开发入门——读取深度信息和显示深度信息图像
本文代码来自http://www.cnblogs.com/yangecnu/archive/2012/04/04/2431615.html
本人只是将其整合并添加适量的注释
xaml文件：
<Window x:Class="kinect_depth_image.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
Title="MainWindow" Height="350" Width="525">
<Grid>
<Image x:Name="DepthImage" </Image>
</Grid>
</Window>
MainWindow.xaml.cs文件
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using Microsoft.Kinect;
using System.IO;
namespace kinect_depth_image
{
/// <summary>
/// MainWindow.xaml 的交互逻辑
/// </summary>
public partial class MainWindow : Window
{
//私有Kinectsensor对象
private KinectSensor kinect;
private WriteableBitmap depthImageBitMap;
private Int32Rect depthImageBitmapRect;
private int depthImageStride;
//private byte[] colorImagePixelData;
public KinectSensor Kinect
{
get { return this.kinect; }
set
{
//如果带赋值的传感器和目前的不一样
if (this.kinect != value)
{
//如果当前的传感对象不为null
if (this.kinect != null)
{
UninitializeKinectSensor(this.kinect);
//uninitailize当前对象
this.kinect = null;
}
//如果传入的对象不为空，且状态为连接状态
if (value != null && value.Status == KinectStatus.Connected)
{
this.kinect = value;
InitializeKinectSensor(this.kinect);
}
}
}
}
private void InitializeKinectSensor(KinectSensor kinectSensor)
{
if (kinectSensor != null)
{
//初始化深度信息流，并使其可以运行
DepthImageStream depthStream = kinectSensor.DepthStream;
depthStream.Enable();
//新建一个位图
this.depthImageBitMap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
depthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight);
//Stride是指图像每一行需要占用的字节数。根据BMP格式的标准，Stride一定要是4的倍数。
depthImageStride = depthStream.FrameWidth * depthStream.FrameBytesPerPixel;
DepthImage.Source = depthImageBitMap;
kinectSensor.DepthFrameReady += kinectSensor_DepthFrameReady;
kinectSensor.Start();
}
}
private void UninitializeKinectSensor(KinectSensor kinectSensor)
{
if (kinectSensor != null)
{
kinectSensor.Stop();
kinectSensor.DepthFrameReady -= new EventHandler<DepthImageFrameReadyEventArgs>(kinectSensor_DepthFrameReady);
}
}
public MainWindow()
{
InitializeComponent();
//出现图像显示
this.Loaded += (s, e) => DiscoverKinectSensor();//见下边的注释
this.Unloaded += (s, e) => this.kinect = null;
/*
*在上面的代码中，+=是在委托链上增加一个委托，(s,e) =>是一个lambda表达式，这个表达式创建一个委托，
* 委托处理的主体就是=> 搜索后面的部分。其实这个写法相当于
* this.Loaded += new EventHandler(Form_Loaded);
* private void Form_Loaded(object sender, EventArgs e)
* { DiscoverKinectSensor();}
*/
//深度信息——仅仅是出现数字
/*
//初始化sensor实例
KinectSensor sensor = KinectSensor.KinectSensors[0];
//初始化照相机
sensor.DepthStream.Enable();
sensor.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(sensor_DepthFrameReady);
Console.ForegroundColor = ConsoleColor.Green;
//打开数据流
sensor.Start();
*/
}
//该方法用于将深度信息的图像显示出来
void kinectSensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
//创建存储深度信息的数组，大小为一帧深度信息的长度
short[] depthPixelDate = new short[depthFrame.PixelDataLength];
//将深度信息存到深度信息的数组中
depthFrame.CopyPixelDataTo(depthPixelDate);
//深度信息图，将那些数据写到图中并显示出来 Stride是指图像每一行需要占用的字节数。根据BMP格式的标准，Stride一定要是4的倍数。
depthImageBitMap.WritePixels(depthImageBitmapRect, depthPixelDate, depthImageStride, 0);
}
}
}
//该方法用于将深度数据显示出来
static void sensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (var depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame == null) return;
short[] bits = new short[depthFrame.PixelDataLength];
//将深度信息转换为bit，每一个bit都写出来
depthFrame.CopyPixelDataTo(bits);
foreach (var bit in bits)
Console.Write(bit);
}
}
//发现kinect传感器
private void DiscoverKinectSensor()
{
KinectSensor.KinectSensors.StatusChanged += KinectSensors_StatusChanged;
this.Kinect = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected);
}
//kinect传感器连接或是不连接，并对其进行处理
private void KinectSensors_StatusChanged(object sender, StatusChangedEventArgs e)
{
switch (e.Status)
{
case KinectStatus.Connected:
if (this.kinect == null)
this.kinect = e.Sensor;
break;
case KinectStatus.Disconnected:
if (this.kinect == e.Sensor)
{
this.kinect = null;
this.kinect = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected);
if (this.kinect == null)
{
//TODO:通知用于Kinect已拔出
}
}
break;
//TODO:处理其他情况下的状态
}
}
}
}