如何使用Kinect显示彩色图像和深度图像。

来源：互联网发布：mt4软件哪个好编辑：程序博客网时间：2024/04/26 07:56

using System;using System.Collections.Generic;using System.Linq;using System.Text;using System.Windows;using System.Windows.Controls;using System.Windows.Data;using System.Windows.Documents;using System.Windows.Input;using System.Windows.Media;using System.Windows.Media.Imaging;using System.Windows.Navigation;using System.Windows.Shapes;using Microsoft.Kinect;namespace WpfApplication2{    /// <summary>    /// MainWindow.xaml 的交互逻辑    /// </summary>    public partial class MainWindow : Window    {        public MainWindow()//vs2010自动生成的。        {            InitializeComponent();        }        private KinectSensor _kinect;//一个全局变量，自然是用来调用Kinect用的，        private void startKinect()        {            if (KinectSensor.KinectSensors.Count > 0)//如果有一个Kinect是可以使用的。            {                _kinect = KinectSensor.KinectSensors[0];//打开第一个Kinect                MessageBox.Show("kinect 目前的状态为：" + _kinect.Status);//这里调用一个messagebox来显示现在的状态。                _kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);                _kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);                _kinect.SkeletonStream.Enable();//使能skeleton                _kinect.AllFramesReady +=                    new EventHandler<AllFramesReadyEventArgs>(_kinect_AllFramesReady);              //大概意思就是添加一个事件处理程序吧，类似于单片机中的//中断。                _kinect.Start();//设置完成之后启动Kinect            }//if            else            {                MessageBox.Show("没有任何Kinect设备");            }        }//start kinect         void _kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)//打开并显示彩色图像的具体程序。        {            using (ColorImageFrame colorFrame = e.OpenColorImageFrame())            {                if (colorFrame == null)                {                    return;                }//if null                byte[] pixels = new byte[colorFrame.PixelDataLength];                colorFrame.CopyPixelDataTo(pixels);                int stride = colorFrame.Width * 4;                imageCamera.Source =//这个imageCamera变量时在mainFrame中定义的一个Image控件。                    BitmapSource.Create(colorFrame.Width, colorFrame.Height,                    96, 96, PixelFormats.Bgr32, null, pixels, stride);            }            //throw new NotImplementedException();        }        private void Window_Loaded(object sender, RoutedEventArgs e)//当第一次窗体加载时，调用StartKinect。        {            startKinect();        }                    }}

成功显示图：

行了显示完彩色图像，开始显示深度图像：

先上效果图：

其实代码页很简单，就是在原来的代码的基础上加上一个：private byte[] convertDepthFrameToColorFrame(DepthImageFrame depthFrame)；函数。这个函数的大概意思就是把8位的深度图转换成32位的彩色图。再在

 void _kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)函数中添加下图的代码就ok了。

改后的代码如下：

using System;using System.Collections.Generic;using System.Linq;using System.Text;using System.Windows;using System.Windows.Controls;using System.Windows.Data;using System.Windows.Documents;using System.Windows.Input;using System.Windows.Media;using System.Windows.Media.Imaging;using System.Windows.Navigation;using System.Windows.Shapes;using Microsoft.Kinect;namespace WpfApplication2{    /// <summary>    /// MainWindow.xaml 的交互逻辑    /// </summary>    public partial class MainWindow : Window    {        public MainWindow()        {            InitializeComponent();        }        private KinectSensor _kinect;        const  float MaxDepthDistance = 4095;        const float MinDepthDistance = 850;        const float MaxDepthDistanceOffSet = MaxDepthDistance - MinDepthDistance;        private const int RedIndex = 2;        private const int GreenIndex = 1;        private const int BlueIndex = 0;        private void startKinect()        {            if (KinectSensor.KinectSensors.Count > 0)            {                _kinect = KinectSensor.KinectSensors[0];                MessageBox.Show("kinect 目前的状态为：" + _kinect.Status);                _kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);                _kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);                _kinect.SkeletonStream.Enable();                _kinect.AllFramesReady +=                    new EventHandler<AllFramesReadyEventArgs>(_kinect_AllFramesReady);                              _kinect.Start();            }//if            else            {                MessageBox.Show("没有任何Kinect设备");            }        }//start kinect         void _kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)        {            using (ColorImageFrame colorFrame = e.OpenColorImageFrame())            {                if (colorFrame == null)                {                    return;                }//if null                byte[] pixels = new byte[colorFrame.PixelDataLength];                colorFrame.CopyPixelDataTo(pixels);                int stride = colorFrame.Width * 4;                imageCamera.Source =                    BitmapSource.Create(colorFrame.Width, colorFrame.Height,                    96, 96, PixelFormats.Bgr32, null, pixels, stride);            }            using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())            {                if (depthFrame == null)                {                    return;                }                byte[] pixels = convertDepthFrameToColorFrame(depthFrame);                int stride = depthFrame.Width * 4;                imageDepth.Source = BitmapSource.Create(depthFrame.Width, depthFrame.Height,                    96, 96, PixelFormats.Bgr32, null, pixels, stride);            }//depth frame ;            //throw new NotImplementedException();        }        private void Window_Loaded(object sender, RoutedEventArgs e)        {            startKinect();        }        private byte[] convertDepthFrameToColorFrame(DepthImageFrame depthFrame)        {            short[] rawDepthData = new short[depthFrame.PixelDataLength];            depthFrame.CopyPixelDataTo(rawDepthData);            byte[] pixels = new byte[depthFrame.Height * depthFrame.Width*4 ];            for (int depthIndex = 0, colorIndex = 0;                depthIndex < rawDepthData.Length && colorIndex < pixels.Length;                depthIndex++, colorIndex+=4)            {                int player = rawDepthData[depthIndex] & DepthImageFrame.PlayerIndexBitmask;                int depth = rawDepthData[depthIndex] >> DepthImageFrame.PlayerIndexBitmaskWidth;                if (depth <= 900)                {                    pixels[colorIndex + BlueIndex] = 255;                    pixels[colorIndex + GreenIndex] = 0;                    pixels[colorIndex + RedIndex] = 0;                }//距离Kinect很近                else if (depth > 900 && depth < 2000)                {                    pixels[colorIndex + BlueIndex] = 0;                    pixels[colorIndex + GreenIndex] = 255;                    pixels[colorIndex + RedIndex] = 0;                }//900,20000                else if (depth > 2000)                {                    pixels[colorIndex + BlueIndex] = 0;                    pixels[colorIndex + GreenIndex] = 0;                    pixels[colorIndex + RedIndex] = 255;                }//2000                if (player > 0)                {                    pixels[colorIndex + BlueIndex] = Colors.LightGreen.B;                    pixels[colorIndex + GreenIndex] = Colors.LightGreen.G;                    pixels[colorIndex + RedIndex] = Colors.LightGreen.R;                }            }//for            return pixels;        }//convert     }}

ok至此深度图可以显示了，。