Problem in processing depth data to avoid obstacles using C#

Roza

I am trying to use depth data to avoid obstacles for eddie. However I am not getting expected result. Can anybody pls guide me where I made wrong? I want to change kinect setting to near mode and resolution setting to 80x60? Pls tell me also how to do this in my following C# code:

public void ProcessRawFrame(kinect.RawKinectFrames frames)
{
lowestObstacle = ObstaclePosition.Clear;

this.RawFrames = frames;
if (null != this.RawFrames.RawDepthFrameData)
{
short[] pixelData = new short[frames.RawDepthFrameData.Length];
int[] depth = new int[pixelData.Length];
frames.RawDepthFrameData.CopyTo(pixelData, 0);

for (int i = 0; i < pixelData.Length; i++)
{
depth = pixelData >> 3;
if (depth >= 3000 && depth <= 4000)
lowestObstacle = ObstaclePosition.front;
}
}

}

Thank you

Roza

added the following code.

public KinectSensor sensor;


this.sensor.DepthStream.Enable(DepthImageFormat.Resolution80x60Fps30);
this.sensor.DepthStream.Range=DepthRange.Near;

But now It shows the error:
Assembly signing failed; output may not be signed -- Error signing assembly -- The process cannot access the file

Now I am in great need to solve the problem. I got stuck. Please help me!!

Thanks