Jim McKeeth demonstrates interface with the Microsoft Kinect SDK from Delphi in this video demo. You can see the depth sensor data that it picks up.
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Have you seen this?
http://delphimagic.blogspot.com.es/2015/11/ejemplo-de-uso-de-kinect-con-delphi.html
I think this is the best code
This a evolution of previous code
http://delphimagic.blogspot.com.es/2015/11/ejemplo-de-uso-de-kinect-con-delphi.html