WPF的.xaml代码:
.xaml.cs代码:
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;
namespace Kinect
{
///
/// MainWindow.xaml 的交互逻辑
///
public partial class MainWindow : Window
{
KinectSensor _kinect;
const float MaxDepthDistance = 4095;//深度图像最大视距
const float MinDepthDiatance = 850;//深度图像最小视距
const float MaxDepthDistanceOffset = MaxDepthDistance - MinDepthDiatance;
//BGR32图像,红色、绿色、蓝色分别对应的偏移(32位,4字节中的第几个)
private const int RedIndex = 2;
private const int GreenIndex = 1;
private const int BlueIndex = 0;
/// <summary>
///单色直方图计算公式,返回256色灰阶。颜色越黑则越远,越白则越近
///将MaxDepthDistanceOffset数值控制在0~255的范围内
/// </summary>
/// <param name="distance">深度值,有效范围MinDepthDistance到MaxDepthDistance</param>
/// <returns>256色灰阶</returns>
private static byte CalculateIntensityFromDepth(int distance)
{
return (byte)(255 - (255 * Math.Max(distance - MinDepthDiatance, 0) / (MaxDepthDistance)));
}
/// <summary>
/// 生成BGR32格式的图片字节数组
/// </summary>
/// <param name="depthFrame"></param>
/// <returns></returns>
private byte[] convertDepthFrameToColorFrame(DepthImageFrame depthFrame)
{
//从深度图像帧中获取原始数据
short[] rawDepthData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(rawDepthData);
//创建Height X Width X 4 的RGB数组(Red, Green, Blue, empty byte)
Byte[] pixels = new byte[depthFrame.Height * depthFrame.Width * 4];
//Bgr32 - Blue, Green, Red, empty byte
//Bgra32 - Blue, Green, Red, transparency
//需要为Bgra32设置透明度(transparency),.NET默认设置该字节为0(全透明)
for(int depthIndex = 0,colorIndex = 0;depthIndex < rawDepthData.Length && colorIndex<pixels.Length;depthIndex++,colorIndex += 4)
{
//用户分割, 0代表该像素不属于用户身体,低于3位字节表示被追踪的使用者的索引编号
int player = rawDepthData[depthIndex & DepthImageFrame.PlayerIndexBitmask];
//获得深度数值,高13位字节
int depth = rawDepthData[depthIndex]>>DepthImageFrame.PlayerIndexBitmaskWidth;
//0.9米内
if(depth <= 900)
{
//离Kinect很近
pixels[colorIndex + BlueIndex] = 255;
pixels[colorIndex + GreenIndex] = 0;
pixels[colorIndex + RedIndex] = 0;
}
//0.9~2米之间
else if(depth > 900 && depth < 2000)
{
pixels[colorIndex + BlueIndex] = 0;
pixels[colorIndex + GreenIndex] = 255;
pixels[colorIndex + RedIndex] = 0;
}
// 2米+
else if(depth > 2000)
{
//离Kinect超过2米
pixels[colorIndex + BlueIndex] = 0;
pixels[colorIndex + GreenIndex] = 0;
pixels[colorIndex + RedIndex] = 255;
}
//单色直方图着色
byte intensity = CalculateIntensityFromDepth(depth);
pixels[colorIndex + BlueIndex] = intensity;
pixels[colorIndex + GreenIndex] = intensity;
pixels[colorIndex + RedIndex] = intensity;
//如果是人体区域,用“亮绿色标注”
if(player > 0)
{
pixels[colorIndex + BlueIndex] = Colors.LightGreen.B;
pixels[colorIndex + GreenIndex] = Colors.LightGreen.G;
pixels[colorIndex + RedIndex] = Colors.LightGreen.R;
}
}
return pixels;
}
/// <summary>
/// 启动Kinect设备,初始化选项,并注册AllFrameReady同步事件
/// </summary>
private void startKinect()
{
if(KinectSensor.KinectSensors.Count > 0)
{
//选择第一个Kinect设备
_kinect = KinectSensor.KinectSensors[0];
MessageBox.Show("Kinect目前状态为:" + _kinect.Status);
//初始化设定,启用彩色图像、深度图像和骨骼跟踪
_kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
_kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
_kinect.SkeletonStream.Enable();
//注册事件,该方法将保证彩色图像、深度图像和骨骼数据的同步
_kinect.AllFramesReady += new EventHandler<AllFramesReadyEventArgs>(_kinect_AllFramesReady);
//启动Kinect设备
_kinect.Start();
}
else
{
MessageBox.Show("没有发现任何Kinect设备");
}
}
private void _kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
//显示彩色摄像头
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame == null)
{
return;
}
byte[] pixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(pixels);
//BGR32格式图片一个像素为4个字节
int stride = colorFrame.Width * 4;
imageCanera.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height,
96, 96, PixelFormats.Bgr32, null, pixels, stride);
}
//红外摄像头
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if(depthFrame ==null)
{
return;
}
byte[] pixels = convertDepthFrameToColorFrame(depthFrame);
//BGR图片的步长
int stride = depthFrame.Width * 4;
//创建BRG32格式的图片
imageDepth.Source = BitmapSource.Create(depthFrame.Width,depthFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixels, stride);
}
}
public MainWindow()
{
InitializeComponent();
}
//窗体启动事件
private void Window_Loaded(object sender, RoutedEventArgs e)
{
startKinect();
}
}
}
效果如图: