//update Depth array and texture
private void UpdateDepth()
{
int size = 0;
//copy pixel data from unmanaged memory
IntPtr ptr = KinectWrapper.GetDepthImage(ref size);
if (ptr != IntPtr.Zero)
{
Marshal.Copy(ptr, seqDepth, 0, size);
//create depth array
for (int x = 0; x < IM_W; x++)
{
for (int y = 0; y < IM_H; y++)
{
depth[IM_W - x - 1][IM_H - y - 1] = BitConverter.ToInt16(seqDepth, (x * 2) + (y * IM_W * 2));
}
}
if (displayDepthImage)
{
//create color matrix as bytes (loops resolution)
for (int x = 0; x < IM_W; x++)
{
for (int y = 0; y < IM_H; y++)
{
dcols[x + (y * IM_W)] = new Color32((byte)depth[x][y], (byte)depth[x][y], (byte)depth[x][y], 255);
}
}
//set texture
depthImg.SetPixels32(dcols);
depthImg.Apply();
}
}
}