彩色圖像流、深度數據和骨骼跟蹤的集合處理（暫無骨骼跟蹤）

WPF的.xaml代碼：

.xaml.cs代碼：
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
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 Kinect
{
///

/// MainWindow.xaml 的交互邏輯
///

public partial class MainWindow : Window
{
KinectSensor _kinect;

const float MaxDepthDistance = 4095;//深度圖像最大視距
    const float MinDepthDiatance = 850;//深度圖像最小視距
    const float MaxDepthDistanceOffset = MaxDepthDistance - MinDepthDiatance;
    //BGR32圖像，紅色、綠色、藍色分別對應的偏移（32位，4字節中的第幾個）
    private const int RedIndex = 2;
    private const int GreenIndex = 1;
    private const int BlueIndex = 0;


    /// <summary>
    ///單色直方圖計算公式，返回256色灰階。顏色越黑則越遠，越白則越近
    ///將MaxDepthDistanceOffset數值控制在0～255的範圍內
    /// </summary>
    /// <param name="distance">深度值，有效範圍MinDepthDistance到MaxDepthDistance</param>
    /// <returns>256色灰階</returns>
    private static byte CalculateIntensityFromDepth(int distance)
    {
        return (byte)(255 - (255 * Math.Max(distance - MinDepthDiatance, 0) / (MaxDepthDistance)));
    }


    /// <summary>
    /// 生成BGR32格式的圖片字節數組
    /// </summary>
    /// <param name="depthFrame"></param>
    /// <returns></returns>
    private byte[] convertDepthFrameToColorFrame(DepthImageFrame depthFrame)
    {
        //從深度圖像幀中獲取原始數據
        short[] rawDepthData = new short[depthFrame.PixelDataLength];
        depthFrame.CopyPixelDataTo(rawDepthData);
        //建立Height X Width X 4 的RGB數組（Red, Green, Blue, empty byte)
        Byte[] pixels = new byte[depthFrame.Height * depthFrame.Width * 4];
        //Bgr32  - Blue, Green, Red, empty byte
        //Bgra32 - Blue, Green, Red, transparency
        //須要爲Bgra32設置透明度（transparency），.NET默認設置該字節爲0（全透明）
        for(int depthIndex = 0,colorIndex = 0;depthIndex < rawDepthData.Length && colorIndex<pixels.Length;depthIndex++,colorIndex  += 4)
        {
            //用戶分割， 0表明該像素不屬於用戶身體，低於3位字節表示被追蹤的使用者的索引編號
            int player = rawDepthData[depthIndex & DepthImageFrame.PlayerIndexBitmask];

            //得到深度數值，高13位字節
            int depth = rawDepthData[depthIndex]>>DepthImageFrame.PlayerIndexBitmaskWidth;
            //0.9米內
            if(depth <= 900)
            {
                //離Kinect很近
                pixels[colorIndex + BlueIndex] = 255;
                pixels[colorIndex + GreenIndex] = 0;
                pixels[colorIndex + RedIndex] = 0;
            }
            //0.9～2米之間
            else if(depth > 900 && depth < 2000)
            {
                pixels[colorIndex + BlueIndex] = 0;
                pixels[colorIndex + GreenIndex] = 255;
                pixels[colorIndex + RedIndex] = 0;
            }
            // 2米+
            else if(depth > 2000)
            {
                //離Kinect超過2米
                pixels[colorIndex + BlueIndex] = 0;
                pixels[colorIndex + GreenIndex] = 0;
                pixels[colorIndex + RedIndex] = 255;
            }
            //單色直方圖着色
            byte intensity = CalculateIntensityFromDepth(depth);
            pixels[colorIndex + BlueIndex] = intensity;
            pixels[colorIndex + GreenIndex] = intensity;
            pixels[colorIndex + RedIndex] = intensity;
            //若是是人體區域，用「亮綠色標註」
            if(player > 0)
            {
                pixels[colorIndex + BlueIndex] = Colors.LightGreen.B;
                pixels[colorIndex + GreenIndex] = Colors.LightGreen.G;
                pixels[colorIndex + RedIndex] = Colors.LightGreen.R;
            }
        }
        return pixels;
    }


    /// <summary>
    /// 啓動Kinect設備，初始化選項，並註冊AllFrameReady同步事件
    /// </summary>
    private void startKinect()
    {
        if(KinectSensor.KinectSensors.Count > 0)
        {
            //選擇第一個Kinect設備
            _kinect = KinectSensor.KinectSensors[0];
            MessageBox.Show("Kinect目前狀態爲：" + _kinect.Status);

            //初始化設定，啓用彩色圖像、深度圖像和骨骼跟蹤
            _kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
            _kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
            _kinect.SkeletonStream.Enable();

            //註冊事件，該方法將保證彩色圖像、深度圖像和骨骼數據的同步
            _kinect.AllFramesReady += new EventHandler<AllFramesReadyEventArgs>(_kinect_AllFramesReady);

            //啓動Kinect設備
            _kinect.Start();
        }
        else
        {
            MessageBox.Show("沒有發現任何Kinect設備");
        }
    }

    private void _kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
    {

        //顯示彩色攝像頭
        using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
        {
            if (colorFrame == null)
            {
                return;
            }

            byte[] pixels = new byte[colorFrame.PixelDataLength];
            colorFrame.CopyPixelDataTo(pixels);

            //BGR32格式圖片一個像素爲4個字節
            int stride = colorFrame.Width * 4;

            imageCanera.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height,
                96, 96, PixelFormats.Bgr32, null, pixels, stride);
         }


        //紅外攝像頭
        using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
        {
            if(depthFrame ==null)
            {
                return;
            }
            byte[] pixels = convertDepthFrameToColorFrame(depthFrame);
            //BGR圖片的步長
            int stride = depthFrame.Width * 4;
            //建立BRG32格式的圖片
            imageDepth.Source = BitmapSource.Create(depthFrame.Width,depthFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixels, stride);
        }
    }
    public MainWindow()
    {
        InitializeComponent();
    }

    //窗體啓動事件
    private void Window_Loaded(object sender, RoutedEventArgs e)
    {
        startKinect();
    }
}

}

效果如圖：