camera.kinect Namespace Reference

Classes
class	_KinectCommon
	Shared helper logic for Kinect color, depth, and RGBD classes. More...
class	Color
	Kinect class to capture only color images. More...
class	ConfigKinect
	config general parameters of Kinect v1 camera More...
class	Depth
	Kinect class to capture depth frames. More...
class	RGBD
	Kinect class to capture color images and depth. More...

Functions
def	raw_kinect_depth_to_meters (depth_raw)
	Converts raw Kinect v1 depth values to approximate meters. More...

Detailed Description

@brief          Kinect v1 Camera Interface

@Author         Xuanyou Chen              xchen3019@gatech.edu

@date           5/5/2026

@note: Comments above file are for Doxygen support and are the same as the docstrings

Function Documentation

raw_kinect_depth_to_meters()

def camera.kinect.raw_kinect_depth_to_meters

(

depth_raw

)

Converts raw Kinect v1 depth values to approximate meters.

Parameters

[in]

depth_raw

raw Kinect depth frame from freenect.sync_get_depth()

Returns

out depth frame in approximate meters

Converts raw Kinect v1 depth values to approximate meters.

libfreenect's default depth frame is a raw 11-bit-ish Kinect depth value,
not meters. This formula is a practical approximation from:
https://graphics.stanford.edu/~mdfisher/Kinect.html.

Args:
    depth_raw:
        raw Kinect depth frame from freenect.sync_get_depth()

Returns:
    depth_m:
        depth frame in approximate meters