AForge.Video.Kinect.KinectVideoCamera.HandleDataReceived C# (CSharp) Method

        private void HandleDataReceived( IntPtr device, IntPtr imageData, UInt32 timeStamp )
        {
            int width  = videoModeInfo.Width;
            int height = videoModeInfo.Height;

            Bitmap image = null;
            BitmapData data = null;

            try
            {
                image = ( cameraMode == VideoCameraMode.Color ) ?
                    new Bitmap( width, height, PixelFormat.Format24bppRgb ) :
                    AForge.Imaging.Image.CreateGrayscaleImage( width, height );

                data = image.LockBits( new Rectangle( 0, 0, width, height ),
                    ImageLockMode.ReadWrite, image.PixelFormat );

                unsafe
                {
                    byte* dst = (byte*) data.Scan0.ToPointer( );
                    byte* src = (byte*) imageBuffer.ToPointer( );

                    if ( cameraMode == VideoCameraMode.Color )
                    {
                        // color RGB 24 mode
                        int offset = data.Stride - width * 3;

                        for ( int y = 0; y < height; y++ )
                        {
                            for ( int x = 0; x < width; x++, src += 3, dst += 3 )
                            {
                                dst[0] = src[2];
                                dst[1] = src[1];
                                dst[2] = src[0];
                            }
                            dst += offset;
                        }
                    }
                    else
                    {
                        // infra red mode - grayscale output
                        int stride = data.Stride;

                        if ( stride != width )
                        {
                            for ( int y = 0; y < height; y++ )
                            {
                                SystemTools.CopyUnmanagedMemory( dst, src, width );
                                dst += stride;
                                src += width;
                            }
                        }
                        else
                        {
                            SystemTools.CopyUnmanagedMemory( dst, src, width * height );
                        }
                    }
                }
                image.UnlockBits( data );

                framesReceived++;
                bytesReceived += width * height;
            }
            catch ( Exception ex )
            {
                if ( VideoSourceError != null )
                {
                    VideoSourceError( this, new VideoSourceErrorEventArgs( ex.Message ) );
                }

                if ( image != null )
                {
                    if ( data != null )
                    {
                        image.UnlockBits( data );
                    }
                    image.Dispose( );
                    image = null;
                }
            }

            if ( image != null )
            {
                if ( NewFrame != null )
                {
                    NewFrame( this, new NewFrameEventArgs( image ) );
                }

                image.Dispose( );
            }
        }
    }