![]() For each pixel in the IR image, a small correlation window (9x9 or 9x7, see below) is used to compare the local pattern at that pixel with the memorized pattern at that pixel and 64 neighboring pixels in a horizontal window (see below for how we estimate the 64-pixel search). For a new image, we want to calculate the depth at each pixel. The pattern is memorized at a known depth. The pattern is generated from a set of diffraction gratings, with special care to lessen the effect of zero-order propagation of a center bright dot (see the PrimeSense patent).ĭepth is calculated by triangulation against a known pattern from the projector. The IR projector sends out a fixed pattern of light and dark speckles, shown below. The IR camera and the IR projector form a stereo pair with a baseline of approximately 7.5 cm. ![]() I am trying to get an understanding of how it all works.įrom what I understand, the kinect has an near-infrared projector and a near infrared camera. I am reading this description here concerning calibration of the Kinect v1. ![]()
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