How to convert Kinect raw depth info to meters in Matlab?

Question

I have made some research here to understand this topic but I have not achieved good results. I\'m working with a Kinect for Windows and the Kinect SDK 1.7. I\'m working wit

Answer 1

In the second article you read, you will see that the method you use is outdated. Read this.

x = (i - w / 2) * (z + minDistance) * scaleFactor
y = (j - h / 2) * (z + minDistance) * scaleFactor
z = z
Where
minDistance = -10
scaleFactor = .0021.
These values were found by hand.

Also you could convert those points to millimeters in your first application as described in the second question

using (var depthFrame = e.OpenDepthImageFrame())
{
    var depthArray = new short[depthFrame.PixelDataLength];
    depthFrame.CopyPixelDataTo(depthArray);

    for (int i = 0; i < depthArray.Length; i++) {
        int depthInMillimeters = 
            depthArray[i] >> DepthImageFrame.PlayerIndexBitmaskWidth;
        // TADAx2!
}