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Kinect-Project/Sources/Lib/DepthImageStream.cs

92 lines
3.1 KiB

using Microsoft.Kinect;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Media.Imaging;
using System.Windows.Media;
using System.Windows;
namespace Lib
{
class DepthImageStream : KinectStream
{
private DepthFrameReader reader;
public DepthFrameReader Reader
{
get
{
return reader;
}
set
{
reader = value;
}
}
private byte[] depthPixels;
public byte[] DepthPixels {
get {
return depthPixels;
}
set
{
depthPixels = value;
}
}
public DepthImageStream(KinectManager kinectManager) : base(kinectManager)
{
var frameDescription = KinectManager.Sensor.DepthFrameSource.FrameDescription;
this.Bitmap = new WriteableBitmap(frameDescription.Width, frameDescription.Height, 96.0, 96.0, PixelFormats.Gray8, null);
reader = KinectManager.Sensor.DepthFrameSource.OpenReader();
reader.FrameArrived += Reader_DepthFrameArrived;
DepthPixels = new byte[frameDescription.Width * frameDescription.Height];
}
private void Reader_DepthFrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
using (DepthFrame depthFrame = e.FrameReference.AcquireFrame())
{
if (depthFrame != null)
{
FrameDescription depthFrameDescription = depthFrame.FrameDescription;
// Créez un tableau pour stocker les données de profondeur
ushort[] depthData = new ushort[depthFrameDescription.LengthInPixels];
depthFrame.CopyFrameDataToArray(depthData);
// Traitez les données de profondeur
ProcessDepthFrameData(depthData, depthFrameDescription.LengthInPixels, depthFrame.DepthMinReliableDistance, depthFrame.DepthMaxReliableDistance);
// Mettez à jour le bitmap de profondeur
this.Bitmap.WritePixels(
new Int32Rect(0, 0, depthFrameDescription.Width, depthFrameDescription.Height),
this.depthPixels,
depthFrameDescription.Width,
0);
}
}
}
public override void Stop()
{
if (reader != null)
{
reader.Dispose();
reader = null;
}
base.Stop();
}
private void ProcessDepthFrameData(ushort[] depthData, uint depthFrameDataSize, ushort minDepth, ushort maxDepth)
{
// Convertir les données de profondeur en niveaux de gris
for (int i = 0; i < depthFrameDataSize; ++i)
{
ushort depth = depthData[i];
DepthPixels[i] = (byte)(depth >= minDepth && depth <= maxDepth ? (depth % 256) : 0);
}
}
}
}