Distance from depthPoint to floor without FloorClipPlane/bodyFrame RRS feed

  • Question

  • Hi,

    in my project i detect depth points an i need the distance to the floor.
    I am not able to calculate the correct distance. I have a given sensor height (may be 2 meters, tilt 0) the y-value of the point is -0.2.
    I convert to cameraspace an back to depthspace, but i get always incorrect values.

    I try something like that:

    float distance = SENSORHEIGHT + csRightMax.Y;
    CameraSpacePoint csDistance;
    csDistance.X = csRightMax.X;
    csDistance.Y = distance * -1;
    csDistance.Z = csRightMax.Z;
    DepthSpacePoint dsDistance = this.coordinateMapper.MapCameraPointToDepthSpace(csDistance);

    What is the correct way to calculate that without bodyFrames?

    Thx for any help

    • Edited by dutzend Tuesday, March 17, 2015 9:56 AM
    Tuesday, March 17, 2015 6:25 AM


  • private Point FloorPoint(Point topPoint) { CameraSpacePoint csPoint =

    this.CameraSpacePointFromDepthSpace(topPoint, depthIndex[topPoint.Y, topPoint.X]); float distance2Floor = SENSORHEIGHT - csPoint.Y; csPoint.Y -= distance2Floor; DepthSpacePoint dsBottom =

    this.coordinateMapper.MapCameraPointToDepthSpace(csPoint); return new Point((int)dsBottom.X, (int)dsBottom.Y); }

    • Marked as answer by dutzend Wednesday, March 18, 2015 11:24 AM
    Wednesday, March 18, 2015 11:23 AM