Get Depth(Z position) of specified coordinate with Kinect v2

Kinect_Get_z.cs

public partial class MainWindow : Window
{
    private KinectSensor kinectSensor = null;
    private CoordinateMapper coordinateMapper = null;
    private MultiSourceFrameReader multiFrameSourceReader = null;
    
    public MainWindow()
    {
        InitializeComponent();
    
        // one sensor is currently supported
        this.kinectSensor = KinectSensor.GetDefault();
    
        // get the coordinate mapper
        this.coordinateMapper = this.kinectSensor.CoordinateMapper;
    
        // get the depth (display) extents
        FrameDescription colorFrameDescription = this.kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
        FrameDescription frameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
    
        // open multiframereader for depth, color, and bodyindex frames
        this.multiFrameSourceReader = this.kinectSensor.OpenMultiSourceFrameReader(FrameSourceTypes.Depth | FrameSourceTypes.Color | FrameSourceTypes.Body);
        
        this.multiFrameSourceReader.MultiSourceFrameArrived += this.Reader_MultiSourceFrameArrived;
    }
    
    private void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
    {
        MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
        
        if (multiSourceFrame != null)
        {
            using (DepthFrame depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame())
            {
                if (depthFrame != null)
                {
                    // Specified X, Y coordinate
                    // In 1920 x 1080 color frame
                    double x = 1000;
                    double y = 900;
                    
                    FrameDescription depthFrameDescription = depthFrame.FrameDescription;
                    depthWidth = depthFrameDescription.Width;
                    depthHeight = depthFrameDescription.Height;
                    
                    depthframeData = new ushort[depthWidth * depthHeight];
                    depthFrame.CopyFrameDataToArray(depthframeData);
                    CameraSpacePoint[] csp = new CameraSpacePoint[1920 * 1080];
                    this.coordinateMapper.MapColorFrameToCameraSpace(depthframeData, csp);
                    
                    // Depth(Z Position) of specified coordinate
                    float DepthPosition = csp[(1920 * Convert.ToInt16(y)) + Convert.ToInt16(x)].Z;
                }
            }
        }
    }
}

Get Depth of specified coordinate with Kinect V2

Use this when you want to get depth(Z coordinate) of specified X,Y coordinate.
It will return float Z coordinate.
Z value means meter distance from Kienct sensor.
1 meter = 1.0 / 2.5 meter = 2.5
If Z value is zero, It means Kinect sensor could not get distance of that coordinate.
Max X coordinate is 1920 and Max Y coordinate is 1080.
X,Y coordinate is referenced by ColorFrame(1920x1080) not DepthFrame(512x424).

This source is part of WPF program. Modify it to fit your program.
MapColorFrameToCameraSpace() function can make your program update slowly. Please notice about this.

You need Kinect for Windows V2 sensor, Kinect SDK 2.0 and Visual Studio 2013 to use this.