如果Kinect的一部分被阻挡，它是否会尝试自动校正深度流？ [英] Does the Kinect try to auto-correct the depth stream if part of it is blocked?

问题描述

我看到一些非常奇怪的行为，其中我的深度流的一部分被阻挡，但回来的Z数据开始倾斜。

例如。我正在看一个平坦的表面，在我的深度图像的右侧，我开始看到z深度远离镜头（有时高达10-12cm）而不移动表面或Kinect本身。

它感觉*它正在做的是说"哦，奇怪，没有返回深度像素，也许我会稍微扭曲图像，看看我是否可以抓住它是"。"

我试图让问题尽可能抽象，以确定我的假设是否在所发生的事情中。

解决方案

信号可能会在边缘周围产生噪音，因此它会尽力到位。您应该看到更多未知值，这些值通常用于帧的其余部分。还要考虑相机平面与墙壁的垂直程度以及每个
是否完全水平。房间内的红外干扰和墙壁的反射率会增加噪点偏差的噪音。

I'm seeing some really odd behavior in which part of my depth stream is obstructed, but the Z-Data coming back starts to skew itself.

eg. I'm looking at a flat surface, and on the right side of my depth image I start to see the z-depth get further away from the lens (sometimes up to 10-12cm) without moving either the surface or the Kinect itself.

What it *feels* like it's doing is saying "oh, odd, that depth pixel isn't being returned, maybe I'll distort the image slightly to see if I can grab it".

I'm trying to keep the question as abstract as possible to see if my assumption is even in the realm of what's happening.

解决方案

The signal can get noisy around the edges, so it will do its best to a point. You should see more unknown values for the depth that you normally would on the rest of the frame. Also consider how perpendicular the camera plane is to the wall and whether everything is perfectly level. The IR interference in the room and the reflectivity of the wall can add to the noise skewing the values a bit.

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