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copied!<p>Pulling depth data from the Kinect SDK can be extracted from the <a href="http://msdn.microsoft.com/en-us/library/microsoft.kinect.depthimagepixel.aspx" rel="nofollow">DepthImagePixel</a> structure.</p> <p>The example code below loops through the entire <code>DepthImageFrame</code> to examine each of the pixels. If you have a specific coordinate you wish to look at, remove the <code>for</code> loop and set the <code>x</code> and <code>y</code> to a specific value.</p> <pre><code>// global variables private const DepthImageFormat DepthFormat = DepthImageFormat.Resolution320x240Fps30; private const ColorImageFormat ColorFormat = ColorImageFormat.RgbResolution640x480Fps30; private DepthImagePixel[] depthPixels; // defined in an initialization function this.depthWidth = this.sensor.DepthStream.FrameWidth; this.depthHeight = this.sensor.DepthStream.FrameHeight; this.depthPixels = new DepthImagePixel[this.sensor.DepthStream.FramePixelDataLength]; private void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e) { if (null == this.sensor) return; bool depthReceived = false; using (DepthImageFrame depthFrame = e.OpenDepthImageFrame()) { if (null != depthFrame) { // Copy the pixel data from the image to a temporary array depthFrame.CopyDepthImagePixelDataTo(this.depthPixels); depthReceived = true; } } if (true == depthReceived) { // loop over each row and column of the depth for (int y = 0; y < this.depthHeight; ++y) { for (int x = 0; x < this.depthWidth; ++x) { // calculate index into depth array int depthIndex = x + (y * this.depthWidth); // extract the given index DepthImagePixel depthPixel = this.depthPixels[depthIndex]; Debug.WriteLine("Depth at [" + x + ", " + y + "] is: " + depthPixel.Depth); } } } } </code></pre>

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