Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Raw disparity aquisition for Kinect camera


I have a kinect camera. I compiled opencv with OpenNI and KinectSensor driver. I am using VideoCapture class with CV_CAP_OPENNI for kinect camera. The VideoCapture class only supports two modes for disparity data aquisition:

CV_CAP_OPENNI_DISPARITY_MAP - disparity in pixels (CV_8UC1)

CV_CAP_OPENNI_DISPARITY_MAP_32F - disparity in pixels (CV_32FC1)

The CV_CAP_OPENNI_DISPARITY_MAP mode retrieves disparity data in an 8bit integer format, but we know Kinect camera measures disparity in 10bit !!! How can I access 10bit disparity values ?

In addition, the CV_CAP_OPENNI_DISPARITY_MAP_32F provides floating point disparity values in pixels, how are these values related to 10bit disparity values of Kinect ? Can I convert float disparity values to their original 10bit values ?

Third question: What is the exact relation between depth values and 10bit disparity values of Kinect camera ?