Comments (3)
I cannot say for sure what is going on, as when calling the depth_point_2_world_point function I just call the Kinect's transformation function MapDepthPointToCameraSpace and return the values, so I cannot know for sure what this function does internally.
But what I know is that the depth point is actually the z (distance from the Kinect Sensor) so you can actually get the z value like this:
if (int(depth_y) * 512 + int(depth_x)) < 512 * 424:
world_z = float(depth[int(depth_y) * 512 + int(depth_x)]) # mm
where depth is just:
depth = kinect.get_last_depth_frame()
from pykinect2-mapper-functions.
I happened to get the same problem, if i just get the depth_z it can be more accurate but it also isnt that accurate as you can see below
the image above is the output of color x,y and depth_z, noted that the object is a person's face mask and it's not moving that much considering the change in the depth_z is huge, and one more thing the object that's detected isnt 5 or 6 meters away, instead it's just about 1,5 meters away from the kinect.
from pykinect2-mapper-functions.
The Kinect's sensor is very sensible, you cannot simply trust the raw data of Kinect, you have to apply a filter (most of the time Kalman filters) to smooth and reduce the Kinect's noise.
from pykinect2-mapper-functions.
Related Issues (13)
- Typo in depth_img = depth_frame.reshape((kinect.depth_frame_desc.Height, kinect.depth_frame_desc.Width, 4)).astype(np.uint8) HOT 3
- when using color_point_2_depth_point, sometime an error will occur HOT 10
- Mapping in the Original PyKinect HOT 2
- mapper.py is a slow in converting between color space to depth space HOT 18
- Canwe use mapper functions on already acquired images HOT 4
- Convertted depth image should be an uint16 array HOT 3
- What is the requirement of the Python Version? HOT 2
- About Aligned Image HOT 1
- About Mapper "color_2_depth_space" HOT 1
- Hello!Here is a question about 'color_2_depth_space'. HOT 1
- something wrong in depth map to color, it seems not accuracy HOT 1
- Related to 1.getting same values of pixel in entire columna and 2. frame resolution HOT 1
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from pykinect2-mapper-functions.