从Kinect SDK V1 Beta转换为V1.8 [英] Converting from Kinect SDK V1 Beta to V1.8

问题描述

• 我正在使用开源代码来跟踪为SDK 1 Beta创建的球，并希望将其转换为SDK V1.8。我不能使用V2，因为我没有Windows 8.我设法转换了大部分代码。但是，有
  没有PlanarImage的翻译，所以我创建了一些替换。我找不到e.ColorImageFrame.Image的翻译（第187行）。我设法清除了错误，但我得到了一堆空引用。
• 这是使用SDK 1 Beta的未经编辑的开源代码。

< pre class ="prettyprint">使用System;
使用System.Collections.Generic;
使用System.Linq;
使用System.Text;

使用Microsoft.Xna.Framework.Graphics;
使用Microsoft.Research.Kinect;
使用Microsoft.Research.Kinect.Nui;
使用Microsoft.Xna.Framework;
使用System.Threading;使用Emgu.CV

;
使用Emgu.CV.Util;
使用Emgu.CV.Structure;


名称空间KTLib
{
公共类KinectInterface
{
public Runtime nui;

Color [] colorFrameData;
Texture2D colorFrameTex;
Texture2D depthFrameTex;
public Texture2D ColorFrameTex
{
get {return colorFrameTex; }
}
public Texture2D DepthFrameTex
{
get {return depthFrameTex; }
}

public Image< Gray，Byte> FullDepth;

公共事件Action OnDepthFrame;

public ushort [] depthMM;

public const int w = 640;
public const int h = 480;

GraphicsDevice gd;

FPSCounter fps;
public int FPS
{
get {return fps.FPS; }
}

双theta;

void initKinect（）
{
nui = Runtime.Kinects [0];

尝试
{
nui.Initialize（RuntimeOptions.UseDepth | RuntimeOptions.UseColor）;
}
catch（InvalidOperationException）
{
抛出新异常（"运行时初始化失败。请确保插入Kinect设备。"）;
返回;
}


尝试
{
nui.VideoStream.Open（ImageStreamType.Video，2，ImageResolution.Resolution640x480，ImageType.Color）;
nui.DepthStream.Open（ImageStreamType.Depth，2，ImageResolution.Resolution640x480，ImageType.Depth）;
}
catch（InvalidOperationException）
{
抛出新的异常（"无法打开流。请确保指定支持的图像类型和分辨率。"）;
返回;
}

nui.DepthFrameReady + = new EventHandler< ImageFrameReadyEventArgs>（nui_DepthFrameReady）;
nui.VideoFrameReady + = new EventHandler< ImageFrameReadyEventArgs>（nui_VideoFrameReady）;
nui.NuiCamera.ElevationAngle = 10;
theta = nui.NuiCamera.ElevationAngle * Math.PI / 180;
}

浮动tanTmax，tanPmax;
void initMaths（）
{
float FOV_x = 57 *（float）（Math.PI / 180）;
float FOV_y = 43 *（float）（Math.PI / 180）;
float tmax = FOV_x / 2;
float pmax = FOV_y / 2;

tanTmax =（float）Math.Tan（tmax）;
tanPmax =（float）Math.Tan（pmax）;
}

public KinectInterface（GraphicsDevice gd）
{
this.gd = gd;

initMaths（）;

colorFrameTex = new Texture2D（gd，w，h）;
fps = new FPSCounter（）;
}
public void Start（）
{
initKinect（）;
Ready = false;
}

public bool Ready;


Texture2D KVideoToTex（PlanarImage img）
{
Texture2D tex = new Texture2D（gd，img.Width，img.Height）;

colorFrameData = new Color [img.Width * img.Height];

for（int i = 0; i< colorFrameData.Length; i ++）
{
colorFrameData [i] .R = img.Bits [4 * i + 2] ;
colorFrameData [i] .G = img.Bits [4 * i + 1];
colorFrameData [i] .B = img.Bits [4 * i];
colorFrameData [i] .A = 255;
}

tex.SetData（colorFrameData）;
返回tex;
}
void nui_VideoFrameReady（object sender，ImageFrameReadyEventArgs e）
{
colorFrameTex = KVideoToTex（e.ImageFrame.Image）;
}


void processDepthFrame（byte [] depthFrame16）
{
depthMM = new ushort [w * h];

byte [] depth8 = new byte [w * h];
// for（int i16 = 0，i = 0; i16< depthFrame16.Length; i16 + = 2，i ++）
// {
// ushort packet =（ushort） （（depthFrame16 [i16 + 1]<< 8）| depthFrame16 [i16]）;
// ushort depth =（ushort）（0x0FFF& packet）;

// depthMM [i] =深度;
//}

for（int y = 0; y< h; y ++）
for（int x = 0; x< w; x ++）
{
int i = y * w + x;
int ref_i = y * w + w - 1 - x; //反映x。反射深度流。

ushort packet =（ushort）（（depthFrame16 [2 * i + 1]<< 8）| depthFrame16 [2 * i]）;
ushort depthVal =（ushort）（0x0FFF& packet）;

depthMM [ref_i] = depthVal;

if（depthVal！= 0）
{
depth8 [ref_i] =（byte）（depthVal>> 4）;
}
else
{
depth8 [ref_i] =（byte）255;
}

}

FullDepth = Helpers.ImageFromArray8（depth8，w，h）;
}

Texture2D generateDepthTex（）
{
Texture2D tex = new Texture2D（gd，w，h）;
颜色[]数据=新颜色[w * h];

for（int i = 0; i< data.Length; i ++）
{
ushort depth = depthMM [i];
// float intensity = 1 - （float）（depth-800）/（float）0x0fff;

byte val =（byte）〜（depth>> 4）;
颜色c = new Color（）;

if（depth == 0）
c = Color.Gray;
else
{
// c = Color.Lerp（Color.Black，Color.White，intensity）;
c.R = val;
c.G = val;
c.B = val;
c.A = 255;
}

data [i] = c;
}

tex.SetData< Color>（数据）;
返回tex;
}

public Vector3 RotateXCCW（Vector3 v，double theta）
{
var vrot = new Vector3（）;
vrot.Z = v.Z *（float）Math.Cos（theta） - v.Y *（float）Math.Sin（theta）;
vrot.Y = v.Z *（float）Math.Sin（theta）+ v.Y *（float）Math.Cos（theta）;
vrot.X = v.X;
返回vrot;
}

public Vector3 UnprojectDepth（float depth_mm，float px，float py）
{
float z = depth_mm / 1000f;

float xnorm = 2f *（（float）px / w - 0.5f）; // [ - 1,1]
float ynorm = 2f * - （（float）py / h - 0.5f）; // [ - 1,1]

// float FOV_x = 57 *（float）（Math.PI / 180）;
// float FOV_y = 43 *（float）（Math.PI / 180）;
// float tmax = FOV_x / 2;
// float pmax = FOV_y / 2;


// float xproj = z * xnorm *（float）Math.Tan（tmax）;
// float yproj = z * ynorm *（float）Math.Tan（pmax）;

float xproj = z * xnorm * tanTmax;
float yproj = z * ynorm * tanPmax;

var v = new Vector3（xproj，yproj，z）;

//正确的仰角
v = RotateXCCW（v，theta）;

返回v;
}

public Vector3 UnprojectDepth（int px，int py）
{
ushort depth = depthMM [px + py * w];
if（深度== 0）//无数据
返回Vector3.Zero;

返回UnprojectDepth（depth，px，py）;
}
public bool ProjectToPx（Vector3 v，out Vector2 proj）
{
v = RotateXCCW（v，-theta）;

float FOV_x = 57 *（float）（Math.PI / 180）;
float FOV_y = 43 *（float）（Math.PI / 180）;
float tmax = FOV_x / 2;
float pmax = FOV_y / 2;


var xnorm = v.X /（v.Z *（float）Math.Tan（tmax））;
var ynorm = v.Y /（v.Z *（float）Math.Tan（pmax））;


float x =（float）（xnorm + 1）/ 2 * w;
float y =（float）（1 - ynorm）/ 2 * h;

proj = new Vector2（x，y）;

返回v.Z> 0.0; //如果在投影平面后面的球是无效的
}

公共bool GetColorFromDepth（int x，int y，out颜色c）
{
c = Color.Black;
int cX，cY;

nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel（ImageResolution.Resolution640x480，新ImageViewArea（）中，x / 2，Y / 2，（短）（depthMM [X + Y * W]<< 3）， out cX，out cY）;

if（cX！= -1&& colorFrameData！= null&& cX< w&& cY< h）
{
c = colorFrameData [cX + cY * w];
返回true;
}

返回false;
}

void nui_DepthFrameReady（object sender，ImageFrameReadyEventArgs e）
{
processDepthFrame（e.ImageFrame.Image.Bits）;
depthFrameTex = generateDepthTex（）;

if（OnDepthFrame！= null）
OnDepthFrame（）;

fps.PushFrame（）;
Ready = true;
}
}
}

• 第二个代码是我的失败尝试转换为SDK V1.8
• 所做的更改：
• 已删除 Microsoft.Reasearch.Kinect和Microsoft.Research.Kinect.Nui
• 已添加 Microsoft.Kinect
• 已删除"Runtime nui"
• 已添加 KinectSensor nui
• 已删除 nui = Runtime.Kinect [0];
• 已添加 nui = KinectSensor.KinectSensor [0];
• 已删除来自运行时的尝试和聊天
• 已添加 
•   &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; nui.ColorStream.Enable（ColorImageFormat.RgbResolution640x480Fps30）;
  
    &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; nui.DepthStream.Enable（）;
• 已更改 EvenHandlers从ImageFrameReady到DepthImageFrameReady和ColorImageFrameReady
• 已添加 nui.Start（） ;
• 更改 PlanarImage to ColorImageFrame
• 更改 img.bits到新字节pixelData
• 移动 processDepthFrame到ColorFrameReady，因为DepthFrameReady传递了太大的数字。
• 无法找到e.ImageFrame.Image的替换。注意：e.ColorImageFrame.Image不起作用）
• 已删除过时的代码  &NBSP; nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel（ImageResolution.Resolution640x480，new ImageViewArea（），x / 2，y / 2，（short）（depthMM [x + y * w]<< 3），out cX，out cY）;
• 已添加

DepthImagePoint depthPoint =新DepthImagePoint（）;

<跨度类= "x_x_x_x_x_x_x_x_x_x_Apple标签跨度" 样式= "空白：预"> ColorImagePoint重点色=
nui.CoordinateMapper.MapDepthPointToColorPoint（DepthImageFormat.Resolution640x480Fps30，depthPoint，
ColorImageFormat.RawBayerResolution640x480Fps30）;

• 更改 cx和cy到colorPoint.X和colorPoint.Y

使用System; 
使用System.Collections.Generic; 
使用System.Linq; 
使用System.Text; 
 
使用Microsoft.Xna.Framework.Graphics; 
 // ------旧代码
 //使用Microsoft.Research.Kinect; 
 //使用Microsoft.Research.Kinect.Nui; 
 // ----使用Microsoft.Kinect的新代码
; 
 // ----------- 
 
使用Microsoft.Xna.Framework; 
使用System.Threading;使用Emgu.CV 
 
; 
使用Emgu.CV.Util; 
使用Emgu.CV.Structure; 
 
 
名称空间KTLib 
 {
公共类KinectInterface 
 {
 // --------旧代码
 // public Runtime nui; 
 // --------新代码
 public KinectSensor nui; 
 // 
 Color [] colorFrameData; 
 Texture2D colorFrameTex; 
 Texture2D depthFrameTex; 
 byte [] pixelData; 
 public Texture2D ColorFrameTex 
 {
 get {return colorFrameTex; } 
} 
 public Texture2D DepthFrameTex 
 {
 get {return depthFrameTex; } 
} 
 
 public Image< Gray，Byte> FullDepth; 
 
公共事件Action OnDepthFrame; 
 
 public ushort [] depthMM; 
 
 public const int w = 640; 
 public const int h = 480; 
 
 GraphicsDevice gd; 
 
 FPSCounter fps; 
 public int FPS 
 {
 get {return fps.FPS; } 
} 
 
双theta; 
 
 void initKinect（）
 {
 //检查Kinect 
 // if（KinectSensor.KinectSensors.Count == 0）
 // { 
 //返回"错误：未检测到Kinect传感器！"; 
 //} 
 // --------旧代码
 // nui = Runtime.Kinects [0]; 
 // --------新代码
 nui = KinectSensor.KinectSensors [0]; 
 // ---------- 
 / * 
尝试
 {
 nui.Initialize（RuntimeOptions.UseDepth | RuntimeOptions.UseColor）; 
} 
 catch（InvalidOperationException）
 {
抛出新异常（"运行时初始化失败。请确保插入Kinect设备。"）; 
返回; 
} 
 
 
尝试
 {
 nui.VideoStream.Open（ImageStreamType.Video，2，ImageResolution.Resolution640x480，ImageType.Color）; 
 nui.DepthStream.Open（ImageStreamType.Depth，2，ImageResolution.Resolution640x480，ImageType.Depth）; 
} 
 catch（InvalidOperationException）
 {
抛出新的异常（"无法打开流。请确保指定支持的图像类型和分辨率。"）; 
返回; 
} 
 * / 
 //启用所有streamins 
 nui.ColorStream.Enable（ColorImageFormat.RgbResolution640x480Fps30）; 
 nui.DepthStream.Enable（）; 
 
 nui.DepthFrameReady + = new EventHandler< DepthImageFrameReadyEventArgs>（nui_DepthFrameReady）; 
 nui.ColorFrameReady + = new EventHandler< ColorImageFrameReadyEventArgs>（nui_ColorFrameReady）; 
 //启动传感器
 nui.Start（）; 
 
 nui.ElevationAngle = 10; 
 theta = nui.ElevationAngle * Math.PI / 180; 
 
} 
 
浮动tanTmax，tanPmax; 
 void initMaths（）
 {
 float FOV_x = 57 *（float）（Math.PI / 180）; 
 float FOV_y = 43 *（float）（Math.PI / 180）; 
 float tmax = FOV_x / 2; 
 float pmax = FOV_y / 2; 
 
 tanTmax =（float）Math.Tan（tmax）; 
 tanPmax =（float）Math.Tan（pmax）; 
} 
 
 public KinectInterface（GraphicsDevice gd）
 {
 this.gd = gd; 
 
 initMaths（）; 
 
 colorFrameTex = new Texture2D（gd，w，h）; 
 fps = new FPSCounter（）; 
} 
 public void Start（）
 {
 initKinect（）; 
 Ready = false; 
} 
 
 public bool Ready; 
 
 //此时可能不是
的Texture2D KVideoToTex（ColorImageFrameReadyEventArgs E）
 {使用
（ColorImageFrame IMG = e.OpenColorImageFrame（））
 $ { b $ b if（img！= null）
 {
 if（pixelData == null）
 {
 pixelData = new byte [img.PixelDataLength]; 
} 
 img.CopyPixelDataTo（pixelData）; 
} 
 Texture2D tex = new Texture2D（gd，img.Width，img.Height）; 
 
 colorFrameData = new Color [img.Width * img.Height]; 
 
 for（int i = 0; i< colorFrameData.Length; i ++）
 {
 colorFrameData [i] .R = pixelData [4 * i + 2]; 
 colorFrameData [i] .G = pixelData [4 * i + 1]; 
 colorFrameData [i] .B = pixelData [4 * i]; 
 colorFrameData [i] .A = 255; 
} 
 
 tex.SetData（colorFrameData）; 
返回tex; 
} 
} 
 void nui_ColorFrameReady（object sender，ColorImageFrameReadyEventArgs e）
 {
 // bool recievedData = false; 
 using（ColorImageFrame colorImageFrame = e.OpenColorImageFrame（））
 {
 if（colorImageFrame！= null）
 {
 if（pixelData == null）
 {
 pixelData = new byte [colorImageFrame.PixelDataLength]; 
} 
 colorImageFrame.CopyPixelDataTo（pixelData）; 
 // recievedData = true; 
} 
 processDepthFrame（pixelData）; 
} 
 //重要!!!没有翻译e.ColorFrame.Image 
 colorFrameTex = KVideoToTex（e.ImageFrame.Image）; 
} 
 
 
 void processDepthFrame（byte [] depthFrame16）
 {
 depthMM = new ushort [w * h]; 
 
 byte [] depth8 = new byte [w * h]; 
 // for（int i16 = 0，i = 0; i16< depthFrame16.Length; i16 + = 2，i ++）
 // {
 // ushort packet =（ushort） （（depthFrame16 [i16 + 1]<< 8）| depthFrame16 [i16]）; 
 // ushort depth =（ushort）（0x0FFF& packet）; 
 
 // depthMM [i] =深度; 
 //} 
 
 for（int y = 0; y< h; y ++）
 for（int x = 0; x< w; x ++）
 {
 int i = y * w + x; 
 int ref_i = y * w + w  -  1  -  x; //反映x。反射深度流。 
 
 ushort packet =（ushort）（（depthFrame16 [2 * i + 1]<< 8）| depthFrame16 [2 * i]）; 
 ushort depthVal =（ushort）（0x0FFF& packet）; 
 
 depthMM [ref_i] = depthVal; 
 
 if（depthVal！= 0）
 {
 depth8 [ref_i] =（byte）（depthVal>> 4）; 
} 
 else 
 {
 depth8 [ref_i] =（byte）255; 
} 
 
} 
 
 FullDepth = Helpers.ImageFromArray8（depth8，w，h）; 
} 
 
 Texture2D generateDepthTex（）
 {
 Texture2D tex = new Texture2D（gd，w，h）; 
颜色[]数据=新颜色[w * h]; 
 
 for（int i = 0; i< data.Length; i ++）
 {
 ushort depth = depthMM [i]; 
 // float intensity = 1  - （float）（depth-800）/（float）0x0fff; 
 
 byte val =（byte）〜（depth>> 4）; 
颜色c = new Color（）; 
 
 if（depth == 0）
 c = Color.Gray; 
 else 
 {
 // c = Color.Lerp（Color.Black，Color.White，intensity）; 
 c.R = val; 
 c.G = val; 
 c.B = val; 
 c.A = 255; 
} 
 
 data [i] = c; 
} 
 
 tex.SetData< Color>（数据）; 
返回tex; 
} 
 
 public Vector3 RotateXCCW（Vector3 v，double theta）
 {
 var vrot = new Vector3（）; 
 vrot.Z = v.Z *（float）Math.Cos（theta） -  v.Y *（float）Math.Sin（theta）; 
 vrot.Y = v.Z *（float）Math.Sin（theta）+ v.Y *（float）Math.Cos（theta）; 
 vrot.X = v.X; 
返回vrot; 
} 
 
 public Vector3 UnprojectDepth（float depth_mm，float px，float py）
 {
 float z = depth_mm / 1000f; 
 
 float xnorm = 2f *（（float）px / w  -  0.5f）; // [ -  1,1] 
 float ynorm = 2f *  - （（float）py / h  -  0.5f）; // [ -  1,1] 
 
 // float FOV_x = 57 *（float）（Math.PI / 180）; 
 // float FOV_y = 43 *（float）（Math.PI / 180）; 
 // float tmax = FOV_x / 2; 
 // float pmax = FOV_y / 2; 
 
 
 // float xproj = z * xnorm *（float）Math.Tan（tmax）; 
 // float yproj = z * ynorm *（float）Math.Tan（pmax）; 
 
 float xproj = z * xnorm * tanTmax; 
 float yproj = z * ynorm * tanPmax; 
 
 var v = new Vector3（xproj，yproj，z）; 
 
 //正确的仰角
 v = RotateXCCW（v，theta）; 
 
返回v; 
} 
 
 public Vector3 UnprojectDepth（int px，int py）
 {
 ushort depth = depthMM [px + py * w]; 
 if（深度== 0）//无数据
返回Vector3.Zero; 
 
返回UnprojectDepth（depth，px，py）; 
} 
 public bool ProjectToPx（Vector3 v，out Vector2 proj）
 {
 v = RotateXCCW（v，-theta）; 
 
 float FOV_x = 57 *（float）（Math.PI / 180）; 
 float FOV_y = 43 *（float）（Math.PI / 180）; 
 float tmax = FOV_x / 2; 
 float pmax = FOV_y / 2; 
 
 
 var xnorm = v.X /（v.Z *（float）Math.Tan（tmax））; 
 var ynorm = v.Y /（v.Z *（float）Math.Tan（pmax））; 
 
 
 float x =（float）（xnorm + 1）/ 2 * w; 
 float y =（float）（1  -  ynorm）/ 2 * h; 
 
 proj = new Vector2（x，y）; 
 
返回v.Z> 0.0; //如果在投影平面后面的球是无效的
} 
 
公共bool GetColorFromDepth（int x，int y，out颜色c）
 {
 c = Color.Black; 
 // int cX，cY; 
 // -------新代码
 DepthImagePoint depthPoint = new DepthImagePoint（）; 
 ColorImagePoint colorPoint = nui.CoordinateMapper.MapDepthPointToColorPoint（DepthImageFormat.Resolution640x480Fps30，depthPoint，ColorImageFormat.RawBayerResolution640x480Fps30）; 
 // -----旧代码
 //nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480,new ImageViewArea（），x / 2，y / 2，（short）（depthMM [x + y * w]<< 3），out cX，out cY）; 
 // ---------------- 
 if（colorPoint.X！= -1&& colorFrameData！= null&& colorPoint.X < w&& colorPoint.Y< h）
 {
c = colorFrameData [colorPoint.X + colorPoint.Y * w]; 
返回true; 
} 
 
返回false; 
} 
 
空隙nui_DepthFrameReady（对象发件人，DepthImageFrameReadyEventArgs E）
 {
 
 //processDepthFrame(e.ImageFrame.Image.Bits）; 
 // processDepthFrame（）; 
 depthFrameTex = generateDepthTex（）; 
 
 if（OnDepthFrame！= null）
 OnDepthFrame（）; 
 
 fps.PushFrame（）; 
 Ready = true; 
} 
} 
} 

  &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP;&NBSP;

$

解决方案

请参阅文档条目以获取移植帮助：
http://msdn.microsoft.com/en-us/library/hh855351.aspx

• I am taking an Open source code for tracking a ball that was created for the SDK 1 Beta, and would like to convert it to the SDK V1.8. I can not use V2 because I do not have Windows 8. I managed to convert the majority of the code. However, there is no translation for PlanarImage so I created some substitutions. I could not find a translation for e.ColorImageFrame.Image either(Line 187). I managed to clear the errors, but I get  a bunch of null references.
• This is the unedited, opensource code using SDK 1 Beta.

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using Microsoft.Xna.Framework.Graphics;
using Microsoft.Research.Kinect;
using Microsoft.Research.Kinect.Nui;
using Microsoft.Xna.Framework;
using System.Threading;

using Emgu.CV;
using Emgu.CV.Util;
using Emgu.CV.Structure;


namespace KTLib
{
    public class KinectInterface
    {
        public Runtime nui;

        Color[] colorFrameData;
        Texture2D colorFrameTex;
        Texture2D depthFrameTex;
        public Texture2D ColorFrameTex
        {
            get { return colorFrameTex; }
        }
        public Texture2D DepthFrameTex
        {
            get { return depthFrameTex; }
        }

        public Image<Gray, Byte> FullDepth;

        public event Action OnDepthFrame;

        public ushort[] depthMM;

        public const int w = 640;
        public const int h = 480;

        GraphicsDevice gd;

        FPSCounter fps;
        public int FPS
        {
            get { return fps.FPS; }
        }

        double theta;

        void initKinect()
        {
            nui = Runtime.Kinects[0];

            try
            {
                nui.Initialize(RuntimeOptions.UseDepth | RuntimeOptions.UseColor);
            }
            catch (InvalidOperationException)
            {
                throw new Exception("Runtime initialization failed. Please make sure Kinect device is plugged in.");
                return;
            }


            try
            {
                nui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
                nui.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution640x480, ImageType.Depth);
            }
            catch (InvalidOperationException)
            {
                throw new Exception("Failed to open stream. Please make sure to specify a supported image type and resolution.");
                return;
            }

            nui.DepthFrameReady += new EventHandler<ImageFrameReadyEventArgs>(nui_DepthFrameReady);
            nui.VideoFrameReady += new EventHandler<ImageFrameReadyEventArgs>(nui_VideoFrameReady);
            nui.NuiCamera.ElevationAngle = 10;
            theta = nui.NuiCamera.ElevationAngle * Math.PI / 180;
        }

        float tanTmax, tanPmax;
        void initMaths()
        {
            float FOV_x = 57 * (float)(Math.PI / 180);
            float FOV_y = 43 * (float)(Math.PI / 180);
            float tmax = FOV_x / 2;
            float pmax = FOV_y / 2;

            tanTmax = (float)Math.Tan(tmax);
            tanPmax = (float)Math.Tan(pmax);
        }

        public KinectInterface(GraphicsDevice gd)
        {
            this.gd = gd;

            initMaths();

            colorFrameTex = new Texture2D(gd, w, h);
            fps = new FPSCounter();
        }
        public void Start()
        {
            initKinect();
            Ready = false;
        }

        public bool Ready;


        Texture2D KVideoToTex(PlanarImage img)
        {
            Texture2D tex = new Texture2D(gd, img.Width, img.Height);

            colorFrameData = new Color[img.Width * img.Height];

            for (int i = 0; i < colorFrameData.Length; i++)
            {
                colorFrameData[i].R = img.Bits[4 * i + 2];
                colorFrameData[i].G = img.Bits[4 * i + 1];
                colorFrameData[i].B = img.Bits[4 * i];
                colorFrameData[i].A = 255;
            }

            tex.SetData(colorFrameData);
            return tex;
        }
        void nui_VideoFrameReady(object sender, ImageFrameReadyEventArgs e)
        {
            colorFrameTex = KVideoToTex(e.ImageFrame.Image);
        }


        void processDepthFrame(byte[] depthFrame16)
        {
            depthMM = new ushort[w * h];

            byte[] depth8 = new byte[w * h];
            //for (int i16 = 0, i = 0; i16 < depthFrame16.Length; i16 += 2, i++)
            //{
            //    ushort packet = (ushort)((depthFrame16[i16 + 1] << 8) | depthFrame16[i16]);
            //    ushort depth = (ushort)(0x0FFF & packet);

            //    depthMM[i] = depth;
            //}

            for (int y = 0; y < h; y++)
                for (int x = 0; x < w; x++)
                {
                    int i = y * w + x;
                    int ref_i = y * w + w - 1 - x; //reflected x. the depth stream is reflected.

                    ushort packet = (ushort)((depthFrame16[2 * i + 1] << 8) | depthFrame16[2 * i]);
                    ushort depthVal = (ushort)(0x0FFF & packet);

                    depthMM[ref_i] = depthVal;

                    if (depthVal != 0)
                    {
                        depth8[ref_i] = (byte)(depthVal >> 4);
                    }
                    else
                    {
                        depth8[ref_i] = (byte)255;
                    }

                }

            FullDepth = Helpers.ImageFromArray8(depth8, w, h);
        }

        Texture2D generateDepthTex()
        {
            Texture2D tex = new Texture2D(gd, w, h);
            Color[] data = new Color[w * h];

            for (int i = 0; i < data.Length; i++)
            {
                ushort depth = depthMM[i];
                //float intensity = 1 - (float)(depth-800) / (float)0x0fff;

                byte val = (byte)~(depth >> 4);
                Color c = new Color();

                if (depth == 0)
                    c = Color.Gray;
                else
                {
                    // c = Color.Lerp(Color.Black, Color.White, intensity);
                    c.R = val;
                    c.G = val;
                    c.B = val;
                    c.A = 255;
                }

                data[i] = c;
            }

            tex.SetData<Color>(data);
            return tex;
        }

        public Vector3 RotateXCCW(Vector3 v, double theta)
        {
            var vrot = new Vector3();
            vrot.Z = v.Z * (float)Math.Cos(theta) - v.Y * (float)Math.Sin(theta);
            vrot.Y = v.Z * (float)Math.Sin(theta) + v.Y * (float)Math.Cos(theta);
            vrot.X = v.X;
            return vrot;
        }

        public Vector3 UnprojectDepth(float depth_mm, float px, float py)
        {
            float z = depth_mm / 1000f;

            float xnorm = 2f * ((float)px / w - 0.5f); //[-1, 1]
            float ynorm = 2f * -((float)py / h - 0.5f); //[-1, 1]

            //float FOV_x = 57 * (float)(Math.PI / 180);
            //float FOV_y = 43 * (float)(Math.PI / 180);
            //float tmax = FOV_x / 2;
            //float pmax = FOV_y / 2;


            //float xproj = z * xnorm * (float)Math.Tan(tmax);
            //float yproj = z * ynorm * (float)Math.Tan(pmax);

            float xproj = z * xnorm * tanTmax;
            float yproj = z * ynorm * tanPmax;

            var v = new Vector3(xproj, yproj, z);

            //correct for elevation angle
            v = RotateXCCW(v, theta);

            return v;
        }

        public Vector3 UnprojectDepth(int px, int py)
        {
            ushort depth = depthMM[px + py * w];
            if (depth == 0) //no data
                return Vector3.Zero;

            return UnprojectDepth(depth, px, py);
        }
        public bool ProjectToPx(Vector3 v, out Vector2 proj)
        {
            v = RotateXCCW(v, -theta);

            float FOV_x = 57 * (float)(Math.PI / 180);
            float FOV_y = 43 * (float)(Math.PI / 180);
            float tmax = FOV_x / 2;
            float pmax = FOV_y / 2;


            var xnorm = v.X / (v.Z * (float)Math.Tan(tmax));
            var ynorm = v.Y / (v.Z * (float)Math.Tan(pmax));


            float x = (float)(xnorm + 1) / 2 * w;
            float y = (float)(1 - ynorm) / 2 * h;

            proj = new Vector2(x, y);

            return v.Z > 0.0; //invalid if ball behind plane of projection
        }

        public bool GetColorFromDepth(int x, int y, out Color c)
        {
            c = Color.Black;
            int cX, cY;

            nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, new ImageViewArea(), x/2, y/2, (short)(depthMM[x + y*w] << 3), out cX, out cY);

            if (cX != -1 && colorFrameData != null && cX < w && cY < h)
            {
                c = colorFrameData[cX + cY * w];
                return true;
            }

            return false;
        }

        void nui_DepthFrameReady(object sender, ImageFrameReadyEventArgs e)
        {
            processDepthFrame(e.ImageFrame.Image.Bits);
            depthFrameTex = generateDepthTex();

            if (OnDepthFrame != null)
                OnDepthFrame();

            fps.PushFrame();
            Ready = true;
        }
    }
}

• This second code is my failed attempt at converting to SDK V1.8
• Changes Made:
• Deleted Microsoft.Reasearch.Kinect and Microsoft.Research.Kinect.Nui
• Added Microsoft.Kinect
• Deleted "Runtime nui"
• Added KinectSensor nui
• Deleted nui = Runtime.Kinect[0];
• Added nui = KinectSensor.KinectSensor[0];
• Deleted Tries and chates from runtime
• Added 
•             nui.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
              nui.DepthStream.Enable();
• Changed EvenHandlers from ImageFrameReady to DepthImageFrameReady and ColorImageFrameReady
• Added nui.Start();
• Changed PlanarImage to ColorImageFrame
• Changed img.bits to a new byte pixelData
• moved processDepthFrame to ColorFrameReady because DepthFrameReady passed numbers that were too large.
• Could not find a substitution for e.ImageFrame.Image. Note: e.ColorImageFrame.Image doesn't work)
• Deleted obsolete code     nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, new ImageViewArea(), x/2, y/2, (short)(depthMM[x + y*w] << 3), out cX, out cY);
• Added

DepthImagePoint depthPoint = new DepthImagePoint();
ColorImagePoint colorPoint = nui.CoordinateMapper.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, depthPoint, ColorImageFormat.RawBayerResolution640x480Fps30);

• Changed cx and cy to colorPoint.X and colorPoint.Y

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using Microsoft.Xna.Framework.Graphics;
//------Old Code
//using Microsoft.Research.Kinect;
//using Microsoft.Research.Kinect.Nui;
//----New Code
using Microsoft.Kinect;
//-----------

using Microsoft.Xna.Framework;
using System.Threading;

using Emgu.CV;
using Emgu.CV.Util;
using Emgu.CV.Structure;


namespace KTLib
{
    public class KinectInterface
    {
        //--------Old Code
        //public Runtime nui;
        //--------New Code
        public KinectSensor nui;
        //
        Color[] colorFrameData;
        Texture2D colorFrameTex;
        Texture2D depthFrameTex;
        byte[] pixelData;
        public Texture2D ColorFrameTex
        {
            get { return colorFrameTex; }
        }
        public Texture2D DepthFrameTex
        {
            get { return depthFrameTex; }
        }

        public Image<Gray, Byte> FullDepth;

        public event Action OnDepthFrame;

        public ushort[] depthMM;

        public const int w = 640;
        public const int h = 480;

        GraphicsDevice gd;

        FPSCounter fps;
        public int FPS
        {
            get { return fps.FPS; }
        }

        double theta;

        void initKinect()
        {   
            //Check for Kinect
            //if (KinectSensor.KinectSensors.Count == 0)
            //{
            //    return "Error: No Kinect Sensor Detected!";
            // }
            //--------Old Code
            //nui = Runtime.Kinects[0];
            //--------New Code
            nui = KinectSensor.KinectSensors[0];
            //----------
            /*
            try
            {
                nui.Initialize(RuntimeOptions.UseDepth | RuntimeOptions.UseColor);
            }
            catch (InvalidOperationException)
            {
                throw new Exception("Runtime initialization failed. Please make sure Kinect device is plugged in.");
                return;
            }


            try
            {
                nui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
                nui.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution640x480, ImageType.Depth);
            }
            catch (InvalidOperationException)
            {
                throw new Exception("Failed to open stream. Please make sure to specify a supported image type and resolution.");
                return;
            }
            */
            //Enable all streamins
            nui.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
            nui.DepthStream.Enable();

            nui.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(nui_DepthFrameReady);
            nui.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(nui_ColorFrameReady);
            //start the sensor
            nui.Start();
            
            nui.ElevationAngle = 10;
            theta = nui.ElevationAngle * Math.PI / 180;
        
        }

        float tanTmax, tanPmax;
        void initMaths()
        {
            float FOV_x = 57 * (float)(Math.PI / 180);
            float FOV_y = 43 * (float)(Math.PI / 180);
            float tmax = FOV_x / 2;
            float pmax = FOV_y / 2;

            tanTmax = (float)Math.Tan(tmax);
            tanPmax = (float)Math.Tan(pmax);
        }

        public KinectInterface(GraphicsDevice gd)
        {
            this.gd = gd;

            initMaths();

            colorFrameTex = new Texture2D(gd, w, h);
            fps = new FPSCounter();
        }
        public void Start()
        {
            initKinect();
            Ready = false;
        }

        public bool Ready;

        //Might not be right
        Texture2D KVideoToTex(ColorImageFrameReadyEventArgs e)
        {
            using (ColorImageFrame img = e.OpenColorImageFrame())
            {
                if (img != null)
                {
                    if (pixelData == null)
                    {
                        pixelData = new byte[img.PixelDataLength];
                    }
                    img.CopyPixelDataTo(pixelData);
                }
                Texture2D tex = new Texture2D(gd, img.Width, img.Height);

                colorFrameData = new Color[img.Width * img.Height];

                for (int i = 0; i < colorFrameData.Length; i++)
                {
                    colorFrameData[i].R = pixelData[4 * i + 2];
                    colorFrameData[i].G = pixelData[4 * i + 1];
                    colorFrameData[i].B = pixelData[4 * i];
                    colorFrameData[i].A = 255;
                }

                tex.SetData(colorFrameData);
                return tex;
            }
        }
        void nui_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
        {
            //bool recievedData = false;
            using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
            {
                if (colorImageFrame != null)
                {
                    if (pixelData == null)
                    {
                        pixelData = new byte[colorImageFrame.PixelDataLength];
                    }
                    colorImageFrame.CopyPixelDataTo(pixelData);
                    //recievedData = true;
                }
                processDepthFrame(pixelData);
            }
            // Important !!! No translation for e.ColorFrame.Image
           colorFrameTex = KVideoToTex(e.ImageFrame.Image);
        }


        void processDepthFrame(byte[] depthFrame16)
        {
            depthMM = new ushort[w * h];

            byte[] depth8 = new byte[w * h];
            //for (int i16 = 0, i = 0; i16 < depthFrame16.Length; i16 += 2, i++)
            //{
            //    ushort packet = (ushort)((depthFrame16[i16 + 1] << 8) | depthFrame16[i16]);
            //    ushort depth = (ushort)(0x0FFF & packet);

            //    depthMM[i] = depth;
            //}

            for (int y = 0; y < h; y++)
                for (int x = 0; x < w; x++)
                {
                    int i = y * w + x;
                    int ref_i = y * w + w - 1 - x; //reflected x. the depth stream is reflected.

                    ushort packet = (ushort)((depthFrame16[2 * i + 1] << 8) | depthFrame16[2 * i]);
                    ushort depthVal = (ushort)(0x0FFF & packet);

                    depthMM[ref_i] = depthVal;

                    if (depthVal != 0)
                    {
                        depth8[ref_i] = (byte)(depthVal >> 4);
                    }
                    else
                    {
                        depth8[ref_i] = (byte)255;
                    }

                }

            FullDepth = Helpers.ImageFromArray8(depth8, w, h);
        }

        Texture2D generateDepthTex()
        {
            Texture2D tex = new Texture2D(gd, w, h);
            Color[] data = new Color[w * h];

            for (int i = 0; i < data.Length; i++)
            {
                ushort depth = depthMM[i];
                //float intensity = 1 - (float)(depth-800) / (float)0x0fff;

                byte val = (byte)~(depth >> 4);
                Color c = new Color();

                if (depth == 0)
                    c = Color.Gray;
                else
                {
                    // c = Color.Lerp(Color.Black, Color.White, intensity);
                    c.R = val;
                    c.G = val;
                    c.B = val;
                    c.A = 255;
                }

                data[i] = c;
            }

            tex.SetData<Color>(data);
            return tex;
        }

        public Vector3 RotateXCCW(Vector3 v, double theta)
        {
            var vrot = new Vector3();
            vrot.Z = v.Z * (float)Math.Cos(theta) - v.Y * (float)Math.Sin(theta);
            vrot.Y = v.Z * (float)Math.Sin(theta) + v.Y * (float)Math.Cos(theta);
            vrot.X = v.X;
            return vrot;
        }

        public Vector3 UnprojectDepth(float depth_mm, float px, float py)
        {
            float z = depth_mm / 1000f;

            float xnorm = 2f * ((float)px / w - 0.5f); //[-1, 1]
            float ynorm = 2f * -((float)py / h - 0.5f); //[-1, 1]

            //float FOV_x = 57 * (float)(Math.PI / 180);
            //float FOV_y = 43 * (float)(Math.PI / 180);
            //float tmax = FOV_x / 2;
            //float pmax = FOV_y / 2;


            //float xproj = z * xnorm * (float)Math.Tan(tmax);
            //float yproj = z * ynorm * (float)Math.Tan(pmax);

            float xproj = z * xnorm * tanTmax;
            float yproj = z * ynorm * tanPmax;

            var v = new Vector3(xproj, yproj, z);

            //correct for elevation angle
            v = RotateXCCW(v, theta);

            return v;
        }

        public Vector3 UnprojectDepth(int px, int py)
        {
            ushort depth = depthMM[px + py * w];
            if (depth == 0) //no data
                return Vector3.Zero;

            return UnprojectDepth(depth, px, py);
        }
        public bool ProjectToPx(Vector3 v, out Vector2 proj)
        {
            v = RotateXCCW(v, -theta);

            float FOV_x = 57 * (float)(Math.PI / 180);
            float FOV_y = 43 * (float)(Math.PI / 180);
            float tmax = FOV_x / 2;
            float pmax = FOV_y / 2;


            var xnorm = v.X / (v.Z * (float)Math.Tan(tmax));
            var ynorm = v.Y / (v.Z * (float)Math.Tan(pmax));


            float x = (float)(xnorm + 1) / 2 * w;
            float y = (float)(1 - ynorm) / 2 * h;

            proj = new Vector2(x, y);

            return v.Z > 0.0; //invalid if ball behind plane of projection
        }

        public bool GetColorFromDepth(int x, int y, out Color c)
        {
            c = Color.Black;
            //int cX, cY;
            //-------New Code
            DepthImagePoint depthPoint = new DepthImagePoint();
            ColorImagePoint colorPoint = nui.CoordinateMapper.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, depthPoint, ColorImageFormat.RawBayerResolution640x480Fps30);
            //-----Old Code
            //nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, new ImageViewArea(), x/2, y/2, (short)(depthMM[x + y*w] << 3), out cX, out cY);
            //----------------
            if (colorPoint.X != -1 && colorFrameData != null && colorPoint.X < w && colorPoint.Y < h)
            {
                c = colorFrameData[colorPoint.X + colorPoint.Y * w];
                return true;
            }

            return false;
        }

        void nui_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
        {

            //processDepthFrame(e.ImageFrame.Image.Bits);
            //processDepthFrame();
            depthFrameTex = generateDepthTex();

            if (OnDepthFrame != null)
                OnDepthFrame();

            fps.PushFrame();
            Ready = true;
        }
    }
}

                  

解决方案

See the documentation entry for porting assistance: http://msdn.microsoft.com/en-us/library/hh855351.aspx

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