Aligning Depth, Colour, and Converting

[JohnHardy]

Hi there,

This might be helpful for you:

http://stackoverflow.com/questions/16947368/does-kinect-infrared-view-have-an-offset-with-the-kinect-depth-view/19905805#19905805

[JohnHardy]

Along with this code:

https://code.google.com/p/stevenhickson-code/source/browse/trunk/blepo/external/Microsoft/Kinect/NuiSkeleton.h?r=14

/// <summary>
/// Returns the depth space coordinates of the specified point in skeleton space.
/// </summary>
/// <param name="lDepthX">The X coordinate of the depth pixel.</param>
/// <param name="lDepthY">The Y coordinate of the depth pixel.</param>
/// <param name="usDepthValue">
/// The depth value (in millimeters) of the depth image pixel, shifted left by three bits. The left
/// shift enables you to pass the value from the depth image directly into this function.
/// </param>
/// <param name="eResolution">
/// A NUI_IMAGE_RESOLUTION value that specifies the resolution of the depth image.
/// </param>
/// <returns>
/// Returns the skeleton space coordinates of the given depth image pixel (in meters).
/// </returns>
inline
Vector4
NuiTransformDepthImageToSkeleton(
    _In_ LONG lDepthX,
    _In_ LONG lDepthY,
    _In_ USHORT usDepthValue,
    _In_ NUI_IMAGE_RESOLUTION eResolution
    )
{
    DWORD width;
    DWORD height;
    NuiImageResolutionToSize( eResolution, width, height );

    //
    //  Depth is in meters in skeleton space.
    //  The depth image pixel format has depth in millimeters shifted left by 3.
    //

    FLOAT fSkeletonZ = static_cast<FLOAT>(usDepthValue >> 3) / 1000.0f;

    //
    // Center of depth sensor is at (0,0,0) in skeleton space, and
    // and (width/2,height/2) in depth image coordinates.  Note that positive Y
    // is up in skeleton space and down in image coordinates.
    //

    FLOAT fSkeletonX = (lDepthX - width/2.0f) * (320.0f/width) * NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240 * fSkeletonZ;
    FLOAT fSkeletonY = -(lDepthY - height/2.0f) * (240.0f/height) * NUI_CAMERA_DEPTH_IMAGE_TO_SKELETON_MULTIPLIER_320x240 * fSkeletonZ;

    //
    // Return the result as a vector.
    //

    Vector4 v4;
    v4.x = fSkeletonX;
    v4.y = fSkeletonY;
    v4.z = fSkeletonZ;
    v4.w = 1.0f;
    return v4;
}