Get Intel RealSense Depth Stream in Unity - unity3d

Question

I'm currently trying to get the depthstream of the new RealSense Generation (D435, SDK2) as a Texture2D in Unity. I can easily access the regular RGB stream as a WebCamTexture, when I try to get the depthsream, I get this error:
Could not connect pins - RenderStream()
Unity recognizes the depthcamera, but can't display it.
I also tried to use the prefabs of the Unity Wrapper, but they don't really work for my project. If I use the prefabs, I can get the data to an R16 texture. Does anyone have an idea, how I can get the depth information at a certain point in the image (GetPixel() doesn't work for R16 textures...)? I'd prefer to get a WebCamTexture stream, if this doesn't work, I have to save the information in a different way...

Answer 1

What i did to get depth data was to create my own class inheriting from RawImage. I used my custom class as the target for the depth render stream, and got the image from the texture component in my class.
Binding to custom class
In my case i wanted to convert the 16bit depth data to an 8bit pr channel rgb pgn so that i could export it as a greyscale image. Here's how i parsed the image data:
byte[] input = texture.GetRawTextureData();
//create array of pixels from texture
//remember to convert to texture2D first
Color[] pixels = new Color[width*height];
//converts R16 bytes to PNG32
for(int i = 0; i < input.Length; i+=2)
{
//combine bytes into 16bit number
UInt16 num = System.BitConverter.ToUInt16(input, i);
//turn into float with range 0->1
float greyValue = (float)num / 2048.0f;
alpha = 1.0f;
//makes pixels outside measuring range invisible
if (num >= 2048 || num <= 0)
alpha = 0.0f;
Color grey = new Color(greyValue, greyValue, greyValue, alpha);
//set grey value of pixel based on float
pixels.SetValue(grey, i/2);
}
to get the pixels you can simply access the new pixels array.