Untitled

Kinect raw depth to distance in meters
if (depthValue < 2047)
{
  depthM = 1.0 / (depthValue*-0.0030711016 + 3.3309495161);
}

using (var skeletonFrame= e.OpenSkeletonFrame())
using (var depthFrame = e.OpenDepthImageFrame())
{
    skeletonFrame.CopySkeletonDataTo(skeletons);
    var skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];

    foreach (var skeleton in skeletons)
    {
            if (skeleton.TrackingState != SkeletonTrackingState.Tracked) continue;

            var head = skeleton.Joints[JointType.Head];
            if (head.TrackingState == JointTrackingState.NotTracked) continue;

            var depthImagePoint = depthFrame.MapFromSkeletonPoint(head.Position);

            int depthInMillimeters = depthImagePoint.Depth; // TADA!
    }
}

using (var depthFrame = e.OpenDepthImageFrame())
{
    var depthArray = new short[depthFrame.PixelDataLength];
    depthFrame.CopyPixelDataTo(depthArray);

    for (int i = 0; i < depthArray.Length; i++) {
        int depthInMillimeters =
            depthArray[i] >> DepthImageFrame.PlayerIndexBitmaskWidth;
        // TADAx2!
}

if (depthValue <= 2047) {
   depthM = 0.1236 * Math.Tan(depthValue / 2842.5 + 1.1863);
}