C# 索引超出了Kinect v2中数组的边界

我正在尝试获取Kinect v2中每个CameraSpacePoint的RGB值。我能够获取CameraSpacePoints和彩色像素。但在我的代码中，从CameraSpacePoints到彩色像素的映射似乎被破坏了，这导致了IndexOutOfRangeException

请参阅下面显示数据收集部分的代码片段：

var depthWidth = depthFrame.FrameDescription.Width;
var depthHeight = depthFrame.FrameDescription.Height;
ushort[] depthData = new ushort[depthWidth * depthHeight];

var colorWidth = colorFrame.FrameDescription.Width;
var colorHeight = colorFrame.FrameDescription.Height;
byte[] pixels = new byte[colorWidth * colorHeight * 4];

CameraSpacePoint[] cameraSpacePoints = new CameraSpacePoint[depthData.Length];
ColorSpacePoint[] colorSpacePoints = new ColorSpacePoint[depthData.Length];

depthFrame.CopyFrameDataToArray(depthData);
coordinateMapper.MapDepthFrameToCameraSpace(depthData, cameraSpacePoints);
coordinateMapper.MapDepthFrameToColorSpace(depthData, colorSpacePoints);

// Assuming RGBA format here
colorFrame.CopyConvertedFrameDataToArray(pixels, ColorImageFormat.Rgba);

请参见下面显示ColorSpacePoints的RGB值的代码：

for (var index = 0; index < depthData.Length; index++)
{
    var u = colorSpacePoints[index].X;
    var v = colorSpacePoints[index].Y;
    int pixelsBaseIndex = (int)(v * depthWidth + u);

    byte red   = pixels[4 * pixelsBaseIndex + 0];
    byte green = pixels[4 * pixelsBaseIndex + 1];
    byte blue  = pixels[4 * pixelsBaseIndex + 2];
    byte alpha = pixels[4 * pixelsBaseIndex + 3];
}

为了调试该问题，我监控了每个索引，然后计算了最小和最大索引值，如下所示：

List<int> allIndex = new List<int>();
for (var index = 0; index < depthData.Length; index++)
{
    var u = colorpoints[index].X;
    var v = colorpoints[index].Y;
    int pixelsBaseIndex = (int)(v * depthWidth + u);

    allIndex.Add(pixelsBaseIndex);
}

var maxIndex = allIndex.Max();
var minIndex = allIndex.Min();
Console.WriteLine(minIndex);//Prints -2147483648
Console.WriteLine((maxIndex < pixels.Length) && (minIndex >= 0));//Prints False

List allIndex=new List（）；
对于（var index=0；index=0））//打印错误

令人惊讶的是，最低指数为-2147483648。猜猜看？我是不是漏掉了什么明显的东西

试试这个

     bool flag = true;

   for (int i = 1; (i <= ((depthData.Length)- 1)) && flag; i++)
        {
            flag = false;
            for (int j = 0; j < ((depthData.Length)- 1); j++)
            {
            //You Statements Goes here
            flag = true;

            }

bool标志=true；
for（int i=1；（i
for（var index=0；indexif（（0）这不太有趣。我最好做以下事情：
int pixelsBaseIndex=（int）（v*depthWidth+u）；if pixelsBaseIndex<0：继续；
非常感谢您的可能重复。浮点算法导致索引越界，这是固定的。
     bool flag = true;

   for (int i = 1; (i <= ((depthData.Length)- 1)) && flag; i++)
        {
            flag = false;
            for (int j = 0; j < ((depthData.Length)- 1); j++)
            {
            //You Statements Goes here
            flag = true;

            }

   for (var index = 0; index < depthData.Length; index++) {
     int u = (int) Math.Floor(colorPoints[index].X);
     int v = (int) Math.Floor(colorPoints[index].Y);

     /*
     1. not every depth pixel has a corresponding color pixel.
        So always check whether u,v are valid or not
     */
     if ((0 <= u) && (u < colorWidth) && (0 <= v) && (v < colorHeight)) {

      /*
      2. now u,v are pixel coordinates in colorspace,
         so to get the index of the corresponding pixel,
         you need to multiply v by colorWidth instead of depthwidth
       */
      int pixelsBaseIndex = v * colorWidth + u;

      byte red = pixels[4 * pixelsBaseIndex + 0];
      byte green = pixels[4 * pixelsBaseIndex + 1];
      byte blue = pixels[4 * pixelsBaseIndex + 2];
      byte alpha = pixels[4 * pixelsBaseIndex + 3];
     }


   }