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If you use imshow() then values <= 0 are black and >= 1 white. Because of this a typical depth image should be black (distance unknown->0) and white (Distance > ca.1m).
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If you use imshow() then values <= 0 are black and >= 1 white. Because of this a typical depth image should be black (distance unknown->0) and white (Distance > ca.1m).
To get the 3D position use: point.y=(y - centerY) / depthFocalLength; point.x=(x - centerX) / depthFocalLength; point.z=depthvalue_at(y,x);
where (x,y) are the coordinates from the depth image and the rest should be calibrated. I think the default parameter for the kinect camera are: centerX = 319.5, centerY = 239.5, depthFocalLength = 525.
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