DepthStreamManager.cs

using System.Windows;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using Microsoft.Kinect;
using Kinect.Toolbox.Record;

namespace Kinect.Toolbox
{
    public class DepthStreamManager : Notifier, IStreamManager
    {
        byte[] depthFrame32;

        public WriteableBitmap Bitmap { get; private set; }

        public void Update(ReplayDepthImageFrame frame)
        {
            var pixelData = new short[frame.PixelDataLength];
            frame.CopyPixelDataTo(pixelData);

            if (depthFrame32 == null)
            {
                depthFrame32 = new byte[frame.Width * frame.Height * 4];
            }

            if (Bitmap == null)
            {
                Bitmap = new WriteableBitmap(frame.Width, frame.Height, 96, 96, PixelFormats.Bgra32, null);
            }

            ConvertDepthFrame(pixelData);

            int stride = Bitmap.PixelWidth * Bitmap.Format.BitsPerPixel / 8;
            Int32Rect dirtyRect = new Int32Rect(0, 0, Bitmap.PixelWidth, Bitmap.PixelHeight);
            Bitmap.WritePixels(dirtyRect, depthFrame32, stride, 0);

            RaisePropertyChanged(() => Bitmap);
        }

        void ConvertDepthFrame(short[] depthFrame16)
        {
            for (int i16 = 0, i32 = 0; i16 < depthFrame16.Length && i32 < depthFrame32.Length; i16 ++, i32 += 4)
            {
                int user = depthFrame16[i16] & 0x07;
                int realDepth = (depthFrame16[i16] >> 3);

                byte intensity = (byte)(255 - (255 * realDepth / 0x1fff));

                depthFrame32[i32] = 0;
                depthFrame32[i32 + 1] = 0;
                depthFrame32[i32 + 2] = 0;
                depthFrame32[i32 + 3] = 255;

                switch (user)
                {
                    case 0: // no one
                        depthFrame32[i32] = (byte)(intensity / 2);
                        depthFrame32[i32 + 1] = (byte)(intensity / 2);
                        depthFrame32[i32 + 2] = (byte)(intensity / 2);
                        break;
                    case 1:
                        depthFrame32[i32] = intensity;
                        break;
                    case 2:
                        depthFrame32[i32 + 1] = intensity;
                        break;
                    case 3:
                        depthFrame32[i32 + 2] = intensity;
                        break;
                    case 4:
                        depthFrame32[i32] = intensity;
                        depthFrame32[i32 + 1] = intensity;
                        break;
                    case 5:
                        depthFrame32[i32] = intensity;
                        depthFrame32[i32 + 2] = intensity;
                        break;
                    case 6:
                        depthFrame32[i32 + 1] = intensity;
                        depthFrame32[i32 + 2] = intensity;
                        break;
                    case 7:
                        depthFrame32[i32] = intensity;
                        depthFrame32[i32 + 1] = intensity;
                        depthFrame32[i32 + 2] = intensity;
                        break;
                }
            }
        }
    }
}