kinect2.0图像输出综合

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using Microsoft.Kinect;
using Emgu.CV;
using Emgu.CV.Structure;
using Emgu.CV.Util;
using Emgu.Util;
using Emgu.CV.CvEnum;
using Emgu.CV.UI;

namespace K_2
{
    public partial class Form1 : Form
    {
        KinectSensor kinectsensor = null;
        ColorFrameReader colorframereader = null;
        private byte[] pixles = null;
        Image colorimg;

        FrameDescription fd = null;
        DepthFrameReader depthframereader = null;
        private byte[] dframedata = null;
        Image dpthimg = null;
        private ushort[] data;

        MultiSourceFrameReader multisourceframereader = null;
        Image img3 = null;
        byte[] imgconvertdata = null,dataconvert = null;
        FrameDescription fdd = null,fdd2 = null;
        Image img4 = null;
        ushort[] imgdeal;

        FrameDescription ff = null;
        CoordinateMapper coordinatemapper = null;
        DepthSpacePoint[] colortodepthpoints = null;
        byte[] irdata = null;
       // ColorSpacePoint[] colorspacepoint = null;
        Image img5 = null;

        public Form1()
        {
            kinectsensor = KinectSensor.GetDefault();
      
            colorframereader = kinectsensor.ColorFrameSource.OpenReader();
            colorframereader.FrameArrived += colorframereader_FrameArrived;

            FrameDescription colorframedescription = this.kinectsensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
            //pixles = new byte[colorframedescription.Width * colorframedescription.Height * colorframedescription.BytesPerPixel];
            //colorimg = new Image(colorframedescription.Width, colorframedescription.Height);
            pixles = new byte[colorframedescription.LengthInPixels * 4];
            colorimg = new Image(colorframedescription.Width, colorframedescription.Height);

            depthframeread