[KinectWPF程序]将深度图像用彩色图像表示，其实就是深度值和像素值的简单转换

[KinectWPF程序]将深度图像用彩色图像表示，其实就是深度值和像素值的简单转换

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
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 WpfApplication9
{
    /// <summary>
    /// MainWindow.xaml 的交互逻辑
    /// </summary>
    public partial class MainWindow : Window
    {

        KinectSensor kinectSensor;
        private const int LowDepthThreshold = 800;
        private const int HighDepthThreshold = 3000;
        private const int DepthDistanceOffset = HighDepthThreshold - LowDepthThreshold;

        //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;

        short[] DepthValueData;

        //初始化Kinect直接调用InitKinect()即可；注册的同步事件为AllFramesReadyEventArgs
        /// <summary>
        /// 启动Kinect设备，初始化选项，并注册AllFrameReady同步事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void InitKinect()
        {
            if (KinectSensor.KinectSensors.Count > 0)
            {
                kinectSensor = (from sensor in KinectSensor.KinectSensors
                                where sensor.Status == KinectStatus.Connected
                                select sensor).FirstOrDefault();

                kinectSensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
                kinectSensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
                kinectSensor.SkeletonStream.Enable();

                kinectSensor.Start();
                kinectSensor.AllFramesReady += new EventHandler<AllFramesReadyEventArgs>(kinectSensor_AllFramesReady);

            }
            else
            {
                MessageBox.Show("没有检测到Kinect设备");
            }
        }

        /// <summary>
        /// 单色直方图计算公式，返回256色灰阶。颜色越黑约远，约白则约近。
        /// 将DepthDistanceOffset控制在0~255的范围内
        /// </summary>
        /// <param name="distance">深度值，有效范围LowDepthThreshold到HighDepthThreshold之间</param>
        /// <returns>256色灰阶</returns>
        private static byte CalculateIntensityFromDepth(int distance)
        {
            return (byte)(255 - (255 * Math.Max(distance - LowDepthThreshold, 0) / (HighDepthThreshold)));
        }

        /// <summary>
        /// 将深度数据帧转换成彩色图像帧
        /// </summary>
        private byte[] convertDepthFrameToColorFrame(DepthImageFrame depthFrame)
        {
            //创建Height*Width*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 < DepthValueData.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3位字节代表被跟踪的使用者的索引编号
                int player = DepthValueData[depthIndex] & DepthImageFrame.PlayerIndexBitmask;

                //获得深度数值，高13位字节。
                int depth = DepthValueData[depthIndex] >> DepthImageFrame.PlayerIndexBitmaskWidth;
                //0.8m内
                if (depth <= 800)
                {
                    //离Kinect很近
                    pixels[colorIndex + BlueIndex] = 255;
                    pixels[colorIndex + GreenIndex] = 0;
                    pixels[colorIndex + RedIndex] = 0;
                }
                else if (depth > 800 && depth < 2000)
                {
                    pixels[colorIndex + BlueIndex] = 0;
                    pixels[colorIndex + GreenIndex] = 255;
                    pixels[colorIndex + RedIndex] = 0;
                }
                else if (depth > 2000)
                {
                    pixels[colorIndex + BlueIndex] = 0;
                    pixels[colorIndex + GreenIndex] = 0;
                    pixels[colorIndex + RedIndex] = 255;
                }
                //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;
        }
        public MainWindow()
        {
            InitializeComponent();
        }

        private void Button_Click(object sender, RoutedEventArgs e)
        {
            InitKinect();
        }
        void kinectSensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
        {  
            //获取深度图像

            using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
            {
                if (depthFrame != null)
                {
                    //建立存储深度值的矩阵，一维矩阵
                    //depthFrame.PixelDataLength每一帧的数据长度
                    DepthValueData = new short[depthFrame.PixelDataLength];
                    depthFrame.CopyPixelDataTo(DepthValueData);
                    //将Kicent获取的深度值拷贝存储像素的矩阵中

                    byte[] pixels = convertDepthFrameToColorFrame(depthFrame);


                    //创建BGR32格式的图片
                    ShowImage.Source = BitmapSource.Create(depthFrame.Width, depthFrame.Height, 96, 96, PixelFormats.Bgr32,
                        null, pixels, depthFrame.Width * 4);
                }
            }
        }
    }
}