Created
November 22, 2012 17:34
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Kinect Depth Slicing
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private const int MaxDepthDistance = 4000; | |
private const int MinDepthDistance = 850; | |
private const int MaxDepthDistanceOffset = 3150; | |
public static BitmapSource SliceDepthImage(this DepthImageFrame image, int min = 20, int max = 1000) | |
{ | |
int width = image.Width; | |
int height = image.Height; | |
//var depthFrame = image.Image.Bits; | |
short[] rawDepthData = new short[image.PixelDataLength]; | |
image.CopyPixelDataTo(rawDepthData); | |
var pixels = new byte[height * width * 4]; | |
const int BlueIndex = 0; | |
const int GreenIndex = 1; | |
const int RedIndex = 2; | |
for (int depthIndex = 0, colorIndex = 0; | |
depthIndex < rawDepthData.Length && colorIndex < pixels.Length; | |
depthIndex++, colorIndex += 4) | |
{ | |
// Calculate the distance represented by the two depth bytes | |
int depth = rawDepthData[depthIndex] >> DepthImageFrame.PlayerIndexBitmaskWidth; | |
// Map the distance to an intesity that can be represented in RGB | |
var intensity = CalculateIntensityFromDistance(depth); | |
if (depth > min && depth < max) | |
{ | |
// Apply the intensity to the color channels | |
pixels[colorIndex + BlueIndex] = intensity; //blue | |
pixels[colorIndex + GreenIndex] = intensity; //green | |
pixels[colorIndex + RedIndex] = intensity; //red | |
} | |
} | |
return BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, pixels, width * 4); | |
} | |
public static byte CalculateIntensityFromDistance(int distance) | |
{ | |
// This will map a distance value to a 0 - 255 range | |
// for the purposes of applying the resulting value | |
// to RGB pixels. | |
int newMax = distance - MinDepthDistance; | |
if (newMax > 0) | |
return (byte)(255 - (255 * newMax | |
/ (MaxDepthDistanceOffset))); | |
else | |
return (byte)255; | |
} |
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Can you include a brief text on how to integrate this with the KinectWPFOpenCV C# CODE?