这一节的内容就是把深度图转换为彩色图，然后不再使用硬解码，而是继续采用sdk里面封装好的功能来减少测量的误差，以及避免转换为灰度图时，出现绿巨人时候的掉针的bug.
下面直接贴代码吧。
private byte[]convertDepthFrameToColorFrame2(short[] depthFrame,DepthImageStream depthSteam){byte[] depthFrame32 = new byte[depthSteam.FrameWidth * depthSteam.FrameHeight * Bgr32BytesPerPixel];//通过常量获得有效视距，不用硬解码（就是自己定义距离）int tooNearDepth = depthSteam.TooNearDepth;int tooFarDepth = depthSteam.TooFarDepth;int unknownDepth = depthSteam.UnknownDepth;for(int i16=0,i32=0;i16<depthFrame.Length&&i32<depthFrame32.Length;i16++,i32+=4){int player = depthFrame[i16] & DepthImageFrame.PlayerIndexBitmask;int realDepth = depthFrame[i16] >> DepthImageFrame.PlayerIndexBitmaskWidth;//通过位运算，将13位的深度图，裁剪为8位，对于显示足够了。byte intensity = (byte)(~(realDepth >> 4));if(player==0&&realDepth==0){//白色depthFrame32[i32 + RedIndex] = 255;depthFrame32[i32 + GreenIndex] = 255;depthFrame32[i32 + BlueIndex] = 255;}else if(player==0&&realDepth==tooFarDepth){//深紫色depthFrame32[i32 + RedIndex] = 66;depthFrame32[i32 + GreenIndex] = 0;depthFrame32[i32 + BlueIndex] = 66;}else if (player == 0 && realDepth == unknownDepth){//深棕色depthFrame32[i32 + RedIndex] = 66;depthFrame32[i32 + GreenIndex] = 66;depthFrame32[i32 + BlueIndex] = 33;}else{depthFrame32[i32 + RedIndex] = (byte)(intensity >> IntensityShiftByPlayerR[player]);depthFrame32[i32 + GreenIndex] = (byte)(intensity >> IntensityShiftByPlayerG[player]);depthFrame32[i32 + BlueIndex] = (byte)(intensity >> IntensityShiftByPlayerB[player]);}}return depthFrame32;}
void _kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e){using(DepthImageFrame depthFrame = e.OpenDepthImageFrame()){if(depthFrame!=null){short[] depthPixelData = new short[depthFrame.PixelDataLength];depthFrame.CopyPixelDataTo(depthPixelData);byte[] pixels = this.convertDepthFrameToColorFrame2(depthPixelData, ((KinectSensor)sender).DepthStream);int stride = depthFrame.Width * 4;imageDepth.Source = BitmapSource.Create(depthFrame.Width, depthFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixels, stride);}}}
再附上效果图
