Kinect&OpenCV

MainWindow.xaml.cs

using System;
using System.Windows;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using Microsoft.Kinect;
using OpenCvSharp;
using OpenCvSharp.Extensions;

namespace KinectOpenCV
{
    /// <summary>
    /// MainWindow.xaml の相互作用ロジック
    /// </summary>
    public partial class MainWindow : Window
    {
        private WriteableBitmap bitmap;
        private Int32Rect bitmapRect;
        private int stride;

        public MainWindow()
        {
            InitializeComponent();

            try {
                var kinect = KinectSensor.KinectSensors[0];
                kinect.ColorStream.Enable();
                kinect.ColorFrameReady +=
                    new EventHandler<ColorImageFrameReadyEventArgs>( kinect_ColorFrameReady );
                kinect.Start();

                // 本来のフォーマットはBgr32だけど、OpenCVSharpのToIplImageが対応してないので、Bgra32にした
                // ただし、ColorStreamのα値相当のデータは0なので、WPF上には表示されない
                // Bgr32にすると、WPF上には表示されるが、OpenCVのほうはエラーになる
                bitmap = new WriteableBitmap( kinect.ColorStream.FrameWidth, kinect.ColorStream.FrameHeight,
                    96, 96, PixelFormats.Bgra32, null );
                    //96, 96, PixelFormats.Bgr32, null );
                bitmapRect = new Int32Rect( 0, 0,
                    kinect.ColorStream.FrameWidth, kinect.ColorStream.FrameHeight );
                stride = kinect.ColorStream.FrameWidth * kinect.ColorStream.FrameBytesPerPixel;

                image.Source = bitmap;
            }
            catch ( Exception ex ) {
                MessageBox.Show( ex.Message );
                Close();
            }
        }

        void kinect_ColorFrameReady( object sender, ColorImageFrameReadyEventArgs e )
        {
            try {
                using ( var frame = e.OpenColorImageFrame() ) {
                    if ( frame != null ) {
                        byte[] pixel = new byte[frame.PixelDataLength];
                        frame.CopyPixelDataTo( pixel );

                        bitmap.WritePixels( bitmapRect, pixel, stride, 0 );

                        // OpenCvSharp.Extensionsにある、WritableBitmapからIplImageへの変換関数
                        IplImage image = bitmap.ToIplImage();
                        Cv.ShowImage( "OpenCV", image );
                    }
                }
            }
            catch ( Exception ) {
                // Bgr32にしたときは「IplImage image = bitmap.ToIplImage();」でフォーマットエラーの例外が出る
                // http://code.google.com/p/opencvsharp/source/browse/trunk/2.3.1/OpenCvSharp.Extensions/WriteableBitmapConverter.cs
            }
        }
    }
}