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Hello

I am new with kinect, I know how to do it in WPF but I have problem for capturing depth in windows application.

I found some code as below:

C#
private void Kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
   using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
   {
      if (depthFrame != null)
      {
         Bitmap DepthBitmap = new Bitmap(depthFrame.Width, depthFrame.Height,     PixelFormat.Format32bppRgb);
         if (_depthPixels.Length != depthFrame.PixelDataLength)
         {
            _depthPixels = new DepthImagePixel[depthFrame.PixelDataLength];
            _mappedDepthLocations = new ColorImagePoint[depthFrame.PixelDataLength];
         }
         
         //Copy the depth frame data onto the bitmap  
         var _pixelData = new short[depthFrame.PixelDataLength];
         depthFrame.CopyPixelDataTo(_pixelData);
         BitmapData bmapdata = DepthBitmap.LockBits(new Rectangle(0, 0, depthFrame.Width,
            depthFrame.Height), ImageLockMode.WriteOnly, DepthBitmap.PixelFormat);
         IntPtr ptr = bmapdata.Scan0;
         Marshal.Copy(_pixelData, 0, ptr, depthFrame.Width * depthFrame.Height);
         DepthBitmap.UnlockBits(bmapdata);                       
         pictureBox.Image = DepthBitmap;
      }              
      // sensor.CoordinateMapper.MapDepthFrameToColorFrame(DepthImageFormat.Resolution640x480Fps30,_depthPixels,ColorImageFormat.RgbResolution640x480Fps30,_mappedDepthLocations);
   }
}

but this is not giving me the greyScale depth and it's purple. Any improvement or help?

Thanks in advance :)
Posted
Updated 5-Jan-14 1:07am
v4
Comments
Yvan Rodrigues 4-Jan-14 12:30pm    
What is the problem? Have you tried the examples in the SDK?
niloufar.M 4-Jan-14 19:58pm    
Dear Yvan, all the existing examples are in WPF, I want it in c# (Windows form)
Yvan Rodrigues 4-Jan-14 12:33pm    
I found the walk-through on Channel9 helpful.
niloufar.M 5-Jan-14 2:23am    
Dear Yvan, where can I find that? you mean this one? http://channel9.msdn.com/Blogs/k4wdev/Community-Sample-Kinect-PowerPoint-Control-Code-Walkthrough
niloufar.M 5-Jan-14 2:31am    
They are all in WPF :(

1 solution

I found the solution:

void Kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
this.depthFrame32 = new byte[depthFrame.Width * depthFrame.Height * 4];
//Update the image to the new format
this.depthPixelData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(this.depthPixelData);
byte[] convertedDepthBits = this.ConvertDepthFrame(this.depthPixelData, ((KinectSensor)sender).DepthStream);
Bitmap bmap = new Bitmap(depthFrame.Width, depthFrame.Height, PixelFormat.Format32bppRgb);
BitmapData bmapdata = bmap.LockBits(new Rectangle(0, 0, depthFrame.Width, depthFrame.Height), ImageLockMode.WriteOnly, bmap.PixelFormat);
IntPtr ptr = bmapdata.Scan0;
Marshal.Copy(convertedDepthBits, 0, ptr, 4 * depthFrame.PixelDataLength);
bmap.UnlockBits(bmapdata);
pictureBox2.Image = bmap;


}
}
}

private byte[] ConvertDepthFrame(short[] depthFrame, DepthImageStream depthStream)
{
//Run through the depth frame making the correlation between the two arrays
for (int i16 = 0, i32 = 0; i16 < depthFrame.Length && i32 < this.depthFrame32.Length; i16++, i32 += 4)
{
// Console.WriteLine(i16 + "," + i32);
//We don’t care about player’s information here, so we are just going to rule it out by shifting the value.
int realDepth = depthFrame[i16] >> DepthImageFrame.PlayerIndexBitmaskWidth;
//We are left with 13 bits of depth information that we need to convert into an 8 bit number for each pixel.
//There are hundreds of ways to do this. This is just the simplest one.
//Lets create a byte variable called Distance.
//We will assign this variable a number that will come from the conversion of those 13 bits.
byte Distance = 0;
//XBox Kinects (default) are limited between 800mm and 4096mm.
int MinimumDistance = 800;
int MaximumDistance = 4096;
//XBox Kinects (default) are not reliable closer to 800mm, so let’s take those useless measurements out.
//If the distance on this pixel is bigger than 800mm, we will paint it in its equivalent gray
if (realDepth > MinimumDistance)
{
//Convert the realDepth into the 0 to 255 range for our actual distance.
//Use only one of the following Distance assignments
//White = Far
//Black = Close
//Distance = (byte)(((realDepth – MinimumDistance) * 255 / (MaximumDistance-MinimumDistance)));
//White = Close
//Black = Far
Distance = (byte)(255 - ((realDepth - MinimumDistance) * 255 / (MaximumDistance - MinimumDistance)));
//Use the distance to paint each layer (R G & of the current pixel.
//Painting R, G and B with the same color will make it go from black to gray
this.depthFrame32[i32 + RedIndex] = (byte)(Distance);
this.depthFrame32[i32 + GreenIndex] = (byte)(Distance);
this.depthFrame32[i32 + BlueIndex] = (byte)(Distance);
}
//If we are closer than 800mm, the just paint it red so we know this pixel is not giving a good value
else
{
this.depthFrame32[i32 + RedIndex] = 0;
this.depthFrame32[i32 + GreenIndex] = 0;
this.depthFrame32[i32 + BlueIndex] = 0;
}
}
 
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