Kinect V2 vs PyKinect2 : difference between depth image

Question

I'm currently working on the kinect V2 to have access to the depth image. I use the library in python PyKinect2 that help me to have this images.

My first problem is :

-> I run KinectStudio 2, and look for the depth image, i look for the implementation of the PyKinect2 and i have a different image. How that could be possible ?

-> To have access to the depth of specific point called X(x,y), I use the method MapColorFrameToDepthSpace, and i manage to have some coordinates that will help me to have the distance on the depth frame. Is this assertion is correct ?

to get the depth image :

 def draw_depth_frame(self, frame):
     depth_frame = frame.reshape((424, 512,-1)).astype(np.uint8)
     return depth_frame

the image from kinect 2 :

the image from kinect 2 with color ramp :

the image from pyKinect 2

Sincerely,

kevingiroux · Accepted Answer · 2019-02-02 09:16:19Z

1

I found my mistake about this,

When i use this

depth_frame = frame.reshape((424, 512,-1)).astype(np.uint8)

This line is in fact wrong.

The depth is not mapped on a uint8, but on a uint16.

By performing the reshape, i have a "lost" of information about the distance, i have only value as 255, so not very useful.

example: 1600 as a distance, was considered as 255, and because of this line, it gives me the third depth image on my previous post. SO the correction is simply something :

depth_frame = frame.reshape((424, 512,-1)).astype(np.uint16)

answered Feb 2, 2019 at 9:16

kevingiroux

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