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    <p>The <code>getDistance()</code> function you're using to calculate real depth is referred to kinect player detection. So check that you are opening your kinect stream accordingly or maybe you should get only the raw depth data</p> <pre><code>Runtime nui = Runtime.Kinects[0] ; nui.Initialize(RuntimeOptions.UseDepth); nui.DepthStream.Open( ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.Depth); </code></pre> <p>and then compute depth by simply bitshifting second byte by 8:</p> <blockquote> <p>Distance (0,0) = (int)(Bits[0] | Bits[1] &lt;&lt; 8);</p> </blockquote> <p>The first calibration methods should work ok even if you could do a little improvement using a better approximation given by Stéphane Magnenat: </p> <blockquote> <p>distance = 0.1236 * tan(rawDisparity / 2842.5 + 1.1863) in meters</p> </blockquote> <p>If you really need more accurate calibration values you should really calibrate your kinect using for example a tool such as the matlab kinect calibration:</p> <p><a href="http://sourceforge.net/projects/kinectcalib/" rel="nofollow">http://sourceforge.net/projects/kinectcalib/</a></p> <p>And double check obtained values with the ones you are currently using provided by Nicolas Burrus.</p> <p><strong>EDIT</strong></p> <p>Reading your question again I noticed that you are using <strong>Microsoft SDK</strong>, so the <strong>values</strong> that are returned from kinect sensor are already <strong>real distances in mm</strong>. You do not need to use the <code>RawDepthToMeters()</code> function, it should be used only with non official sdk.</p> <p>The hardware creates a depth map, that it is a non linear function of disparity values, and it has 11 bits of precision. The kinect sdk driver convert out of the box this disparity values to mm and rounds it to an integer. MS Kinect SDK has <strong>800mm to 4000mm</strong> depth range.</p>
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    1. COSo, I should compute a simple bit shifting, something like this: Distance (0,0) = (int)(Bits[0] | Bits[1] << 8); and then use the first DepthToWorld method to find the pixel in real world ... am I right?
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    2. COYes, I already do it in one of my personal project that involves create a point cloud using kinect and result are quite good.
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