get depth data

getDepthData.m

CVPixelBufferLockBaseAddress(pixelBuffer, kCVPixelBufferLock_ReadOnly);
const uint8_t* baseAddress = (const uint8_t*)CVPixelBufferGetBaseAddress(pixelBuffer);

for (size_t y = 0; y < height; ++y) {
    const __fp16* data = (const __fp16*)(baseAddress + y * stride);
    
    for (size_t x = 0; x < width; ++x, ++data) {
        __fp16 depth = *data;
        
        if (!isnan(depth) && depth > minDepth) {
            
            float f32Pixel = 0.0f;
            vImage_Buffer src, dst;
            src.data = &depth; src.height = 1; src.width = 1; src.rowBytes = 2;
            dst.data = &f32Pixel; dst.height = 1; dst.width = 1; dst.rowBytes = 4;
            vImageConvert_Planar16FtoPlanarF(&src, &dst, 0);

        }
    }
}

CVPixelBufferUnlockBaseAddress(pixelBuffer, kCVPixelBufferLock_ReadOnly);