Kinect学习笔记（五）——更专业的深度图

最新推荐文章于 2022-08-20 22:11:21 发布

weixin_34320724

最新推荐文章于 2022-08-20 22:11:21 发布

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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);

                    

               }
            }
        }