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using System.Threading.Tasks;
using System.Windows;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using Microsoft.Research.Kinect.Nui;
namespace KinectDepthSmoothing
{
public partial class MainWindow : Window
{
private BitmapSource CreateImageFromDepthImage(ImageFrame image)
{
int width = image.Image.Width;
int height = image.Image.Height;
var depthFrame = image.Image.Bits;
// We multiply the product of width and height by 4 because each byte
// will represent a different color channel per pixel in the final iamge.
var colorFrame = new byte[height * width * 4];
// We use the previously built depthIndexes IEnumerable collection for this purpose
// For each pixel in the final image, there are two bytes that represent the depth in
// the Kinect depth image. To utilize the Parallel ForEach loop efficiently, we use a
// prebuilt collection of primary indexes for these positions.
Parallel.ForEach(depthIndexes, depthIndex =>
{
// Because the colorFrame we are creating has twice as many bytes representing
// a pixel in the final image, we set the index to be twice of the depth index.
var index = depthIndex * 2;
// Calculate the distance represented by the two depth bytes
var distance = CalculateDistanceFromDepth(depthFrame[depthIndex], depthFrame[depthIndex + 1]);
// Map the distance to an intesity that can be represented in RGB
var intensity = CalculateIntensityFromDistance(distance);
// Apply the intensity to the color channels
colorFrame[index + BlueIndex] = intensity;
colorFrame[index + GreenIndex] = intensity;
colorFrame[index + RedIndex] = intensity;
});
return BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, colorFrame, width * PixelFormats.Bgr32.BitsPerPixel / 8);
}
}
}
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