KinectV2Core.KinectCoreV2.depthReader_FrameArrived C# (CSharp) Method

        void depthReader_FrameArrived(object sender, DepthFrameArrivedEventArgs e)
        {
            using (DepthFrame depthFrame = e.FrameReference.AcquireFrame())
            {
                if (depthFrame != null)
                {
                    FrameDescription desc = depthFrame.FrameDescription;

                    KinectBase.DepthFrameEventArgs depthE = new KinectBase.DepthFrameEventArgs();
                    depthE.bytesPerPixel = 2;  //This is fixed to 2 because we are using a ushort to hold the depth image
                    depthE.perPixelExtra = 2;  //We always have an extra two bytes per pixel because we are storing a Gray16 in a bgr32 format
                    depthE.height = desc.Height;
                    depthE.width = desc.Width;
                    depthE.kinectID = kinectID;
                    depthE.timeStamp = depthFrame.RelativeTime;
                    depthE.reliableMin = (float)depthFrame.DepthMinReliableDistance / (float)ushort.MaxValue;
                    depthE.reliableMax = (float)depthFrame.DepthMaxReliableDistance / (float)ushort.MaxValue;

                    //Get all the data for the depth, and store the bytes for the Gray16 in the blue and green channels of a bgr32
                    IntPtr depthImagePtr = Marshal.AllocHGlobal((int)(depthE.bytesPerPixel * desc.LengthInPixels));
                    depthFrame.CopyFrameDataToIntPtr(depthImagePtr, (uint)depthE.bytesPerPixel * desc.LengthInPixels);
                    //depthE.image = new byte[desc.LengthInPixels * (depthE.perPixelExtra + depthE.bytesPerPixel)];
                    depthE.image = depthImagePool.GetObject();
                    unsafe
                    {
                        fixed (byte* pDst = depthE.image)
                        {
                            ushort* pD = (ushort*)pDst;
                            ushort* pS = (ushort*)depthImagePtr.ToPointer();

                            for (int n = 0; n < desc.LengthInPixels; n++)
                            {
                                *pD = *pS;
                                pD += 2;
                                pS++;
                            }
                        }
                    }
                    Marshal.FreeHGlobal(depthImagePtr);

                    OnDepthFrameReceived(depthE);
                }
            }
        }