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POMicrosoft Kinect SDK Depth calibration
 

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  1. POMicrosoft Kinect SDK Depth calibration
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    <p>I am working on a 3D model reconstruction application with Kinect sensor. I use Microsoft SDK to get depth data, I want to calculate the location of each point in the real-world. I have read several articles about it and I have implemented several depth-calibration methods but all of them do not work in my application. the closest calibration was <a href="http://openkinect.org/wiki/Imaging_Information" rel="nofollow">http://openkinect.org/wiki/Imaging_Information</a> but my result in Meshlab was not acceptable. I calculate depth value by this method:</p> <pre><code> private double GetDistance(byte firstByte, byte secondByte) { double distance = (double)(firstByte &gt;&gt; 3 | secondByte &lt;&lt; 5); return distance; } </code></pre> <p>and then I used below methods to calculate distance of real-world</p> <pre><code> public static float RawDepthToMeters(int depthValue) { if (depthValue &lt; 2047) { return (float)(0.1 / ((double)depthValue * -0.0030711016 + 3.3309495161)); } return 0.0f; } public static Point3D DepthToWorld(int x, int y, int depthValue) { const double fx_d = 5.9421434211923247e+02; const double fy_d = 5.9104053696870778e+02; const double cx_d = 3.3930780975300314e+02; const double cy_d = 2.4273913761751615e+02; double depth = RawDepthToMeters(depthValue); Point3D result = new Point3D((float)((x - cx_d) * depth / fx_d), (float)((y - cy_d) * depth / fy_d), (float)(depth)); return result; } </code></pre> <p>these methods did not work well and generated scene was not correct. then I used below method, the result is better than previous method but it is not acceptable yet.</p> <pre><code> public static Point3D DepthToWorld(int x, int y, int depthValue) { const int w = 640; const int h = 480; int minDistance = -10; double scaleFactor = 0.0021; Point3D result = new Point3D((x - w / 2) * (depthValue + minDistance) * scaleFactor * (w/h), (y - h / 2) * (depthValue + minDistance) * scaleFactor,depthValue); return result; } </code></pre> <p>I was wondering if you let me know how can I calculate real-world position based on my depth pixel values calculating by my method.</p>
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