bool update() { if (!depthFrameReader_) { return false; } CComPtr<IDepthFrame> depthFrame; HRESULT hr = depthFrameReader_->AcquireLatestFrame(&depthFrame); if (FAILED(hr)) { return false; } hr = depthFrame->AccessUnderlyingBuffer(&bufferSize_, &buffer_); if (FAILED(hr)) { return false; } depthBuffer_.resize( bufferSize_ ); std::copy( &buffer_[0], &buffer_[bufferSize_], depthBuffer_.begin() ); return true; }