Microsoft.Samples.Kinect.WpfViewers.KinectColorViewer.ColorImageReady C# (CSharp) Method

        private void ColorImageReady(object sender, ColorImageFrameReadyEventArgs e)
        {
            using (ColorImageFrame imageFrame = e.OpenColorImageFrame())
            {
                if (imageFrame != null)
                {
                    // We need to detect if the format has changed.
                    bool haveNewFormat = this.lastImageFormat != imageFrame.Format;
                    bool convertToRgb = false;
                    int bytesPerPixel = imageFrame.BytesPerPixel;

                    if (imageFrame.Format == ColorImageFormat.RawBayerResolution640x480Fps30 ||
                        imageFrame.Format == ColorImageFormat.RawBayerResolution1280x960Fps12)
                    {
                        convertToRgb = true;
                        bytesPerPixel = 4;
                    }

                    if (haveNewFormat)
                    {
                        if (convertToRgb)
                        {
                            this.rawPixelData = new byte[imageFrame.PixelDataLength];
                            this.pixelData = new byte[bytesPerPixel * imageFrame.Width * imageFrame.Height];
                        }
                        else
                        {
                            this.pixelData = new byte[imageFrame.PixelDataLength];
                        }
                    }

                    if (convertToRgb)
                    {
                        imageFrame.CopyPixelDataTo(this.rawPixelData);
                        ConvertBayerToRgb32(imageFrame.Width, imageFrame.Height);
                    }
                    else
                    {
                        imageFrame.CopyPixelDataTo(this.pixelData);
                    }

                    // A WriteableBitmap is a WPF construct that enables resetting the Bits of the image.
                    // This is more efficient than creating a new Bitmap every frame.
                    if (haveNewFormat)
                    {
                        PixelFormat format = PixelFormats.Bgr32;
                        if (imageFrame.Format == ColorImageFormat.InfraredResolution640x480Fps30)
                        {
                            format = PixelFormats.Gray16;
                        }

                        kinectColorImage.Visibility = Visibility.Visible;
                        this.outputImage = new WriteableBitmap(
                            imageFrame.Width,
                            imageFrame.Height,
                            96,  // DpiX
                            96,  // DpiY
                            format,
                            null);

                        this.kinectColorImage.Source = this.outputImage;
                    }

                    this.outputImage.WritePixels(
                        new Int32Rect(0, 0, imageFrame.Width, imageFrame.Height),
                        this.pixelData,
                        imageFrame.Width * bytesPerPixel,
                        0);

                    this.lastImageFormat = imageFrame.Format;

                    UpdateFrameRate();
                }
            }
        }
    }