Some questions about Kinect data aqcuisition using Matlab R2013a

Dear Genious,

I have a big question regarding Kinect acquisition data using Matlab R2013a. As I know that depth data is 12 bit result of matlab reading. Its distance measurement is in millimeters.

I need depth data to get real value of RGB from RGB data by mapping by its coordinates directly after thresholding depth data for only certain distance (example 900mm - 3000 mm). But I read that indices in depth data (from microsoft kinect MSDN website) does not represent realworld index. For your information, I use only Microsoft Kinect SDK v 1.8 and matlab 2013a.

My questions: 1. Do we still need to callibrate kinect to get depth data and rgb data matched? If yes, could you propose me a link to get there? 2. Should I implement a method to match these both data or can I use directly depth data without additional processing? 3. I try to use METADATA that matlab get from kinect and I see there is worldcoordinates. But why I did not get value other then zero in all matrix member when I tried to get 1 frame only?

Thank you so much for your help. I really need this information.

Answer 1

[Martin Schätz]

Hi, you don't have to callibrate Kinect to get depth and RGB matched. All is shifted because both sensors are some distance from each other. Here is a page where they have script to create point cloud from rgb and depth data, so you can use just the part for mapping.