kinect获取深度数据并显示

    private KinectSensor _Sensor;  //Kincet传感器
    private DepthFrameReader _depthReader; //深度帧读取器
    private ushort[] _depthData; //因为深度数据为2字节16bit，所以定为ushort存放数据
    private Mesh _Mesh;
    //顶点集合
    private Vector3[] _Vertices;
    //顶点的UV坐标集合
    private Vector2[] _UV;
    //三角形的顶点集合，_Vertices中的    
    private int[] _Triangles;
    //only works at 4 right now
    //降频采样大小
    private const int _DownsampleSize = 4;
    //实际距离与Unity内模型距离的缩放系数，若实际距离为4m，则在Unity中显示为0.04m
    private const float _DepthScale = 0.01f;

    void Start () {
        _Sensor = KinectSensor.GetDefault ();
        if (_Sensor != null) {
            _depthReader = _Sensor.DepthFrameSource.OpenReader ();
            var frameDescript = _Sensor.DepthFrameSource.FrameDescription;
            //数组大小为整个像素的长度
            _depthData = new ushort[frameDescript.LengthInPixels];
            //创建Mesh网格  还差顶点的z值 即深度值,为了减少顶点数量 所以进行采样。
            CreateMesh (frameDescript.Width / _DownsampleSize, frameDescript.Height / _DownsampleSize);

        }
        if (!_Sensor.IsOpen)
            _Sensor.Open ();
    }

void CreateMesh(int width,int height)
    {
        _Mesh = new Mesh ();
        GetComponent<MeshFilter> ().mesh = _Mesh;
        _Vertices = new Vector3[width * height];
        _UV = new Vector2[width * height];
        //三角形的数量等于横竖像素点减1“-1”后相乘 再乘以6 如下：
        _Triangles = new int[(width - 1) * (height - 1) * 6]; 
        
        int triangleIndex = 0;
        for (int y = 0; y < height; y++) {
            for (int x = 0; x < width; x++) {
                //顶点的索引就是像素按照一行一行的记录，坐标值x，y为像素在平面的位置，z为深度值
                int index = y * width + x;
                _Vertices [index] = new Vector3 (x, -y, 0);
                _UV [index] = new Vector2((float)x /width, (float)y /height);

                //确定三角形的顶点索引，每四个顶点确定两个三角形，每个三角形的顶点索引顺序为顺时针，否则不予显示
                //忽略最后一行和列，
                if (x != (width - 1) && y != (height - 1)) {
                    int top_left = index;
                    int top_right = top_left + 1;
                    int bottom_left = top_left + width;
                    int bottom_right = bottom_left + 1;
                    //第一个三角形
                    _Triangles [triangleIndex++] = top_left;
                    _Triangles [triangleIndex++] = top_right;
                    _Triangles [triangleIndex++] = bottom_left;
                    //第二个三角形
                    _Triangles [triangleIndex++] = bottom_left;
                    _Triangles [triangleIndex++] = top_right;
                    _Triangles [triangleIndex++] = bottom_right;
                }
            }
        }
        _Mesh.vertices = _Vertices;
        _Mesh.uv = _UV;
        _Mesh.triangles = _Triangles;
        _Mesh.RecalculateNormals ();
    
    }

    //将深度数据赋予对应的顶点，显示深度帧数据，
    void ShowDepthView()
    {
        var frameDescript = _Sensor.DepthFrameSource.FrameDescription;
        //这里的x，y是没有采样的像素点，所以需要加采样频率才能和采样过的顶点集合想对应，x，y主要用来计算采样点和周围点的平均深度值
        for (int y = 0; y < frameDescript.Height; y += _DownsampleSize) {
            for (int x = 0; x < frameDescript.Width; x += _DownsampleSize) {
                int indexX = x / _DownsampleSize;
                int indexY = y / _DownsampleSize;
                int smallIndex = (indexY*(frameDescript.Width/_DownsampleSize)) + indexX;
                //计算平均深度值
                float avg = GetAvgDepth (x, y, frameDescript.Width, frameDescript.Height);
                _Vertices [smallIndex].z = avg * _DepthScale;
            }
        }
        _Mesh.vertices = _Vertices;
        _Mesh.uv = _UV;
        _Mesh.triangles = _Triangles;
        _Mesh.RecalculateNormals ();
    }
    float GetAvgDepth(int x,int y,int width,int height)
    {//计算平均深度值
        double sum = 0;
        for (int y1 = y; y1 < y + _DownsampleSize; y1++) {
            for (int x1 = x; x1 < x + _DownsampleSize; x1++) {
                int index = y1 * width + x1;
                if (_depthData [index] == 0) 
                    sum += 4500;//表示超出范围
                else
                    sum += _depthData [index];
            }
        }
        int count = _DownsampleSize * _DownsampleSize;
        return (float)(sum/count);
    }

    void Update () {
        if (_depthReader == null)
            return;
        var frame = _depthReader.AcquireLatestFrame ();
        if (frame != null) {
            frame.CopyFrameDataToArray (_depthData);

            ShowDepthView ();
            frame.Dispose ();
            frame = null;
        }            
    }

    void OnApplicationQuit()
    {
        if (_depthReader != null) {
            _depthReader.Dispose ();
            _depthReader = null;
        }
        if (_Sensor != null) {
            if (_Sensor.IsOpen) {
                _Sensor.Close ();
            }
            _Sensor = null;

        }
    }