void _sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
bool gotColor = false;
bool gotDepth = false;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
Debug.Assert(colorFrame.Width == 640 && colorFrame.Height == 480, "This app only uses 640x480.");
if (_colorPixels.Length != colorFrame.PixelDataLength)
{
Debug.WriteLine("Color pixelDataLength, {0}", colorFrame.PixelDataLength);
_colorPixels = new byte[colorFrame.PixelDataLength];
_bitmapBits = new byte[640 * 480 * 4];
_bitmap = new WriteableBitmap(640, 480, 96.0, 96.0, PixelFormats.Bgr32, null);
this.Image.Source = _bitmap; // Assign the WPF element to _bitmap
}
colorFrame.CopyPixelDataTo(_colorPixels);
gotColor = true;
}
}
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
Debug.Assert(depthFrame.Width == 640 && depthFrame.Height == 480, "This app only uses 640x480.");
if (_depthPixels.Length != depthFrame.PixelDataLength)
{
Debug.WriteLine("Depth pixelDataLength, {0}", depthFrame.PixelDataLength);
_depthPixels = new short[depthFrame.PixelDataLength];
_mappedDepthLocations = new ColorImagePoint[depthFrame.PixelDataLength];
}
depthFrame.CopyPixelDataTo(_depthPixels);
gotDepth = true;
}
}
for (int i = 0; i < _colorPixels.Length; i += 4)
{
_bitmapBits[i + 3] = 255;
if (BackgroundValue == BackgroundFormat.PureDepth)
{
byte intensity = CalculateIntensityFromDepth(_depthPixels[i / 4]);
_bitmapBits[i + 2] = intensity;
_bitmapBits[i + 1] = intensity;
_bitmapBits[i] = intensity;
}
else if (BackgroundValue == BackgroundFormat.PureRGB)
{
_bitmapBits[i + 2] = _colorPixels[i + 2];
_bitmapBits[i + 1] = _colorPixels[i + 1];
_bitmapBits[i] = _colorPixels[i];
}
else if (BackgroundValue == BackgroundFormat.AllGrey)
{
_bitmapBits[i + 2] = 125;
_bitmapBits[i + 1] = 125;
_bitmapBits[i] = 125;
}
}
if (ThresholdValue != ThresholdFormat.Undefined)
{
this._sensor.MapDepthFrameToColorFrame(DepthImageFormat.Resolution640x480Fps30, _depthPixels, ColorImageFormat.RgbResolution640x480Fps30, _mappedDepthLocations);
//Debug.WriteLine(_depthPixels.Length);
if (UnthressholdValue == UnthresholdFormat.AllWhiteExceptMappedInThreshold)
{
Array.Clear(_usedcolorPixels, 0, _usedcolorPixels.Length);
}
for (int i = 0; i < _depthPixels.Length; i++)
{
int depthVal = _depthPixels[i] >> DepthImageFrame.PlayerIndexBitmaskWidth;
if ((depthVal < rangeMax) && (depthVal > rangeMin))
{
ColorImagePoint point = _mappedDepthLocations[i];
if ((point.X >= 0 && point.X < 640) && (point.Y >= 0 && point.Y < 480))
{
int baseIndex = (point.Y * 640 + point.X) * 4;
if (ThresholdValue == ThresholdFormat.AllBlack)
{
_bitmapBits[baseIndex] = (byte)(0);
_bitmapBits[baseIndex + 1] = (byte)(0);
_bitmapBits[baseIndex + 2] = (byte)(0);
}
else if (ThresholdValue == ThresholdFormat.MixedWhite)
{
_bitmapBits[baseIndex] = (byte)((_bitmapBits[baseIndex] + 255) >> 1);
_bitmapBits[baseIndex + 1] = (byte)((_bitmapBits[baseIndex + 1] + 255) >> 1);
_bitmapBits[baseIndex + 2] = (byte)((_bitmapBits[baseIndex] + 255) >> 1);
}
// else (ThresholdValue == ThresholdFormat.PureRGB) {Don't do anything}
if (UnthressholdValue == UnthresholdFormat.AllWhiteExceptMappedInThreshold)
{
_usedcolorPixels[baseIndex] = 1;
}
}
else
{
Debug.WriteLine("Out of range");
}
}
else
{
/*
if (UnthressholdValue == UnthresholdFormat.AllWhite)
{
//if ((point.X >= 0 && point.X < 640) && (point.Y >= 0 && point.Y < 480))
{
int baseIndex = (point.Y * 640 + point.X) * 4;
_bitmapBits[baseIndex] = (byte)(255);
_bitmapBits[baseIndex + 1] = (byte)(255);
_bitmapBits[baseIndex + 2] = (byte)(255);
}
}
*/
}
}
// end the loop for the depth pixel
if (UnthressholdValue == UnthresholdFormat.AllWhiteExceptMappedInThreshold)
{
for (int i=0; i<_bitmapBits.Length; i+=4)
if (_usedcolorPixels[i]==0) {
_bitmapBits[i] = (byte)(255);
_bitmapBits[i + 1] = (byte)(255);
_bitmapBits[i + 2] = (byte)(255);
}
}
}
_bitmap.WritePixels(new Int32Rect(0, 0, _bitmap.PixelWidth, _bitmap.PixelHeight), _bitmapBits, _bitmap.PixelWidth * sizeof(int), 0);
}
