- 在显示彩色影像和深度影像时最好使用WriteableBitmap对象；
- 要想将骨骼数据影像和深度影像，或者彩色影像叠加到一起，首先要确定深度影像的分辨率和大小，为了方便，这里将深度影像数据和彩色影像数据都采用640x480Fps30的格式，同时将Grid的大小也设置为640*480。
- 要将骨骼数据和深度影像数据叠加，需要将关节点转换到深度影像所在空间中，可以直接调用MapSkeletonPointToDepthPoint，如果要将骨骼数据叠加到彩色影像上，只需要调用MapSkeletonPointToColorPoint方法。
前端代码
界面很简单，在Grid对象下面有两个Image对象，和一个嵌套的Grid对象。前面两个Image对象分别用来显示彩色影像数据和深度影像数据，后面的Grid对象是用来绘制骨骼的，需要注意的是Grid对象的属性要设置为Transparent，这样的话就可以将Grid上绘制骨骼而不会遮住下面的彩色影像或者深度影像了。
后台代码
public partial class MainWindow : Window { private KinectSensor kinectDevice; private readonly Brush[] skeletonBrushes;//绘图笔刷 private WriteableBitmap depthImageBitMap; private Int32Rect depthImageBitmapRect; private Int32 depthImageStride; private DepthImageFrame lastDepthFrame; private WriteableBitmap colorImageBitmap; private Int32Rect colorImageBitmapRect; private int colorImageStride; private byte[] colorImagePixelData; private Skeleton[] frameSkeletons; public MainWindow() { InitializeComponent(); skeletonBrushes = new Brush[] { Brushes.Red }; KinectSensor.KinectSensors.StatusChanged += KinectSensors_StatusChanged; this.KinectDevice = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected); } public KinectSensor KinectDevice { get { return this.kinectDevice; } set { if (this.kinectDevice != value) { //Uninitialize if (this.kinectDevice != null) { this.kinectDevice.Stop(); this.kinectDevice.SkeletonFrameReady -= kinectDevice_SkeletonFrameReady; this.kinectDevice.ColorFrameReady -= kinectDevice_ColorFrameReady; this.kinectDevice.DepthFrameReady -= kinectDevice_DepthFrameReady; this.kinectDevice.SkeletonStream.Disable(); this.kinectDevice.DepthStream.Disable(); this.kinectDevice.ColorStream.Disable(); this.frameSkeletons = null; } this.kinectDevice = value; //Initialize if (this.kinectDevice != null) { if (this.kinectDevice.Status == KinectStatus.Connected) { this.kinectDevice.SkeletonStream.Enable(); this.kinectDevice.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30); this.kinectDevice.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30); this.frameSkeletons = new Skeleton[this.kinectDevice.SkeletonStream.FrameSkeletonArrayLength]; this.kinectDevice.SkeletonFrameReady += kinectDevice_SkeletonFrameReady; this.kinectDevice.ColorFrameReady += kinectDevice_ColorFrameReady; this.kinectDevice.DepthFrameReady += kinectDevice_DepthFrameReady; this.kinectDevice.Start(); DepthImageStream depthStream = kinectDevice.DepthStream; depthStream.Enable(); depthImageBitMap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null); depthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight); depthImageStride = depthStream.FrameWidth * depthStream.FrameBytesPerPixel; ColorImageStream colorStream = kinectDevice.ColorStream; colorStream.Enable(); colorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null); this.colorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight); this.colorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel; ColorImage.Source = this.colorImageBitmap; DepthImage.Source = depthImageBitMap; } } } } } void kinectDevice_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e) { using (DepthImageFrame depthFrame = e.OpenDepthImageFrame()) { if (depthFrame != null) { short[] depthPixelDate = new short[depthFrame.PixelDataLength]; depthFrame.CopyPixelDataTo(depthPixelDate); depthImageBitMap.WritePixels(depthImageBitmapRect, depthPixelDate, depthImageStride, 0); } } } void kinectDevice_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e) { using (ColorImageFrame frame = e.OpenColorImageFrame()) { if (frame != null) { byte[] pixelData = new byte[frame.PixelDataLength]; frame.CopyPixelDataTo(pixelData); this.colorImageBitmap.WritePixels(this.colorImageBitmapRect, pixelData, this.colorImageStride, 0); } } } void kinectDevice_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e) { using (SkeletonFrame frame = e.OpenSkeletonFrame()) { if (frame != null) { Polyline figure; Brush userBrush; Skeleton skeleton; LayoutRoot.Children.Clear(); frame.CopySkeletonDataTo(this.frameSkeletons); for (int i = 0; i < this.frameSkeletons.Length; i++) { skeleton = this.frameSkeletons[i]; if (skeleton.TrackingState == SkeletonTrackingState.Tracked) { userBrush = this.skeletonBrushes[i % this.skeletonBrushes.Length]; //绘制头和躯干 figure = CreateFigure(skeleton, userBrush, new[] { JointType.Head, JointType.ShoulderCenter, JointType.ShoulderLeft, JointType.Spine, JointType.ShoulderRight, JointType.ShoulderCenter, JointType.HipCenter }); LayoutRoot.Children.Add(figure); figure = CreateFigure(skeleton, userBrush, new[] { JointType.HipLeft, JointType.HipRight }); LayoutRoot.Children.Add(figure); //绘制作腿 figure = CreateFigure(skeleton, userBrush, new[] { JointType.HipCenter, JointType.HipLeft, JointType.KneeLeft, JointType.AnkleLeft, JointType.FootLeft }); LayoutRoot.Children.Add(figure); //绘制右腿 figure = CreateFigure(skeleton, userBrush, new[] { JointType.HipCenter, JointType.HipRight, JointType.KneeRight, JointType.AnkleRight, JointType.FootRight }); LayoutRoot.Children.Add(figure); //绘制左臂 figure = CreateFigure(skeleton, userBrush, new[] { JointType.ShoulderLeft, JointType.ElbowLeft, JointType.WristLeft, JointType.HandLeft }); LayoutRoot.Children.Add(figure); //绘制右臂 figure = CreateFigure(skeleton, userBrush, new[] { JointType.ShoulderRight, JointType.ElbowRight, JointType.WristRight, JointType.HandRight }); LayoutRoot.Children.Add(figure); } } } } } private Polyline CreateFigure(Skeleton skeleton, Brush brush, JointType[] joints) { Polyline figure = new Polyline(); figure.StrokeThickness = 8; figure.Stroke = brush; for (int i = 0; i < joints.Length; i++) { figure.Points.Add(GetJointPoint(skeleton.Joints[joints[i]])); } return figure; } private Point GetJointPoint(Joint joint) { CoordinateMapper cm = new CoordinateMapper(kinectDevice); DepthImagePoint point = cm.MapSkeletonPointToDepthPoint(joint.Position, this.KinectDevice.DepthStream.Format); //ColorImagePoint point = cm.MapSkeletonPointToColorPoint(joint.Position, this.KinectDevice.ColorStream.Format); point.X *= (int)this.LayoutRoot.ActualWidth / KinectDevice.DepthStream.FrameWidth; point.Y *= (int)this.LayoutRoot.ActualHeight / KinectDevice.DepthStream.FrameHeight; return new Point(point.X, point.Y); } private void KinectSensors_StatusChanged(object sender, StatusChangedEventArgs e) { switch (e.Status) { case KinectStatus.Initializing: case KinectStatus.Connected: case KinectStatus.NotPowered: case KinectStatus.NotReady: case KinectStatus.DeviceNotGenuine: this.KinectDevice = e.Sensor; break; case KinectStatus.Disconnected: //TODO: Give the user feedback to plug-in a Kinect device. this.KinectDevice = null; break; default: //TODO: Show an error state break; } } }