关于kinect，当我用它来获取depthMap并用它来构建3D程序时，我发现了一些问题！ [英] about kinect,when I use it to get depthMap and use it to build 3D program,I find some question！

问题描述

当我使用kinect'来构建3D模型时，我发现模型会失真，这是非常严重的。例如，我用binect来拍摄3D光滑的墙面模型，但是当我在PCL中查看3D模型时，我看到了扭曲的墙面。他可以告诉我为什么？

解决方案

如果您可以发布有关具体问题的更多详细信息，那么尝试确定具体问题会有所帮助您所看到的问题的性质和原因。 以下是一些可能有帮助的初步想法：

• 请记住，在处理Kinect的深度数据时，您需要抛出DepthStream.UnknownDepth的深度值（包括由红外摄像机和红外投影仪之间的偏移引起的红外阴影区域），DepthStream.TooFarDepth
  （离Kinect太远的区域，超出当前模式的近距离范围）或者默认）和DepthStream.TooNearDepth（太靠近Kinect的区域，比当前模式近或默认的范围更近）。
• 确保您正在测量的所有场景是在您正在使用的模式的定义距离范围内（近或默认）。
• 因为在捕捉深度数据时无法真正避免红外阴影现象，请尝试将场景移动到更远的地方。 Kinect（仍然保持在定义的深度范围内）。 这种方法可以使IR阴影更窄，而
  因此减少了数据中返回的DepthStream.UnknownDepth值。

这是一个例子我为最近的演示文稿汇总的IR影子问题：

when I use the kinect' to build the 3D model , I find the model take distortion, it is very serious. For example,
I use the kinect to take a 3D smooth metope model ,but i see a distortion metope when I look the 3D model in the PCL.who can tell me why?

解决方案

If you can post more detail about the specific issues, it would be helpful in trying to detemine the nature and cause of the probelm you're seeing.  Here are some initial thoughts that might help:

• Keep in mind that, when dealing with Kinect's depth data, you need to throw out depth values of DepthStream.UnknownDepth (which includes areas that are in the IR shadow caused by the offset between the IR camera and IR projector), DepthStream.TooFarDepth (areas that are too far away from the Kinect, beyond the range of the current mode of Near or Default), and DepthStream.TooNearDepth (areas that are too close to the Kinect, closer than the range of the current mode of Near or Default).
• Be sure that all of the scene you're measuring is within the defined distance range of the mode you're working in (Near or Default).
• Because you can't really avoid the IR shadow phenomenon when capturing depth data, try moving your scene farther awary from the Kinect (while still remaining within the defined depth range).  This approach can make the IR shadow narrower, and thus reduce the the amount of DepthStream.UnknownDepth values returned in the data.

Here is an illustration of the IR shadow problem that I put together for a recent presentation:

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