Kinect Depth

Imports Microsoft.Kinect

Public Class Form1

    Dim kinz As KinectSensor
    Dim depthz As DepthImageFrame
    Dim picdepth As Bitmap = New Bitmap(640, 480, Imaging.PixelFormat.Format32bppRgb)

    Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load

        For Each potentialSensor In KinectSensor.KinectSensors
            If potentialSensor.Status = KinectStatus.Connected Then
                kinz = potentialSensor
                Exit For
            End If
        Next potentialSensor

        kinz.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30)
        AddHandler kinz.DepthFrameReady, AddressOf depthready
        kinz.Start()

    End Sub

    Private Sub depthready(ByVal sender As Object, ByVal e As DepthImageFrameReadyEventArgs)

        depthz = e.OpenDepthImageFrame

    End Sub

    Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick

        depthmethod()
        PictureBox1.Image = picdepth

    End Sub
    'Color for depth
    Public Sub depthmethod()

        Dim pixz(kinz.DepthStream.FramePixelDataLength - 1) As Short
        Dim pixmax As Integer = 32760

        If depthz IsNot Nothing Then

            depthz.CopyPixelDataTo(pixz)

            Dim rect As New Rectangle(0, 0, picdepth.Width, picdepth.Height)
            Dim bmpData As System.Drawing.Imaging.BitmapData = picdepth.LockBits(rect, _
                Drawing.Imaging.ImageLockMode.ReadWrite, Imaging.PixelFormat.Format32bppRgb)
            Dim ptr As IntPtr = bmpData.Scan0
            Dim bytes As Integer = bmpData.Stride * picdepth.Height
            Dim rgbValues(bytes - 1) As Byte
            System.Runtime.InteropServices.Marshal.Copy(ptr, rgbValues, 0, bytes)

            Dim secondcounter As Integer = 0
            Dim tempred As Integer
            Dim tempblue As Integer
            Dim tempgreen As Integer
            Dim tempalpha As Integer
            Dim range As Integer

            While secondcounter < rgbValues.Length
                tempblue = rgbValues(secondcounter)
                tempgreen = rgbValues(secondcounter + 1)
                tempred = rgbValues(secondcounter + 2)
                tempalpha = rgbValues(secondcounter + 3)
                tempalpha = 255

                If pixz(secondcounter / 4) <> -8 Then
                    tempgreen = 255 - ((pixz(secondcounter / 4) / pixmax) * 255)
                Else
                    tempgreen = 0
                End If


                tempred = 0
                tempblue = 0

                rgbValues(secondcounter) = tempblue
                rgbValues(secondcounter + 1) = tempgreen
                rgbValues(secondcounter + 2) = tempred
                rgbValues(secondcounter + 3) = tempalpha

                secondcounter = secondcounter + 4
            End While

            System.Runtime.InteropServices.Marshal.Copy(rgbValues, 0, ptr, bytes)

            picdepth.UnlockBits(bmpData)

        End If

    End Sub
End Class