Kinect原始深度到距离的距离(以米为单位) [英] Kinect raw depth to distance in meters

问题描述

我正在尝试将Kinect深度图转换为以米为单位的距离.问题在于，对于深度图值"1080"及其附近，距离太大，因为分母中的项变得非常接近"0".对于"1090"以上的值，距离为负.

I am trying to convert Kinect depth map to distance in meters. The problem is that for depthmap value '1080' and around it, distance is too large because the term in denominator becomes very close to '0'. and for values above '1090', distance is negative.

if (depthValue < 2047) 
{
  depthM = 1.0 / (depthValue*-0.0030711016 + 3.3309495161);
}

推荐答案

正确的答案实际上是对您的问题的评论.给出的数字实际上是以毫米为单位的距离.要获得此数字，您要么需要使用骨架关节并调用DepthImageFrame的MapFromSkeletonPoint，要么将原始的short值右移DepthImageFrame.PlayerIndexBitmaskWidth.

The correct answer is actually a comment on your question. The number given is actually a distance in millimetres. To get this number, you either need to use a skeleton joint and call DepthImageFrame's MapFromSkeletonPoint or shift the raw short value right by DepthImageFrame.PlayerIndexBitmaskWidth.

例如骨架

using (var skeletonFrame= e.OpenSkeletonFrame())
using (var depthFrame = e.OpenDepthImageFrame())
{
    skeletonFrame.CopySkeletonDataTo(skeletons);
    var skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];

    foreach (var skeleton in skeletons)
    {
            if (skeleton.TrackingState != SkeletonTrackingState.Tracked) continue;

            var head = skeleton.Joints[JointType.Head];
            if (head.TrackingState == JointTrackingState.NotTracked) continue;

            var depthImagePoint = depthFrame.MapFromSkeletonPoint(head.Position);

            int depthInMillimeters = depthImagePoint.Depth; // TADA!
    }
}

例如移

using (var depthFrame = e.OpenDepthImageFrame())
{
    var depthArray = new short[depthFrame.PixelDataLength];
    depthFrame.CopyPixelDataTo(depthArray);

    for (int i = 0; i < depthArray.Length; i++) {
        int depthInMillimeters = 
            depthArray[i] >> DepthImageFrame.PlayerIndexBitmaskWidth;
        // TADAx2!
}

以下原始解决方案不再正确:

基于本文的内容- http://openkinect.org/wiki/Imaging_Information :

if (depthValue <= 2047) {
   depthM = 0.1236 * Math.Tan(depthValue / 2842.5 + 1.1863);
}

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