CoordinateMapper.MapDepthPointToColorPoint Method

Kinect for Windows 1.6, 1.7, 1.8

Maps a point from depth space to color space.

Syntax

public ColorImagePoint MapDepthPointToColorPoint (
         DepthImageFormat depthImageFormat,
         DepthImagePoint depthPoint,
         ColorImageFormat colorImageFormat
)

Parameters

• depthImageFormat
  Type: DepthImageFormat
  The depth space format.
• depthPoint
  Type: DepthImagePoint
  The supplied DepthImagePoint.
• colorImageFormat
  Type: ColorImageFormat
  The color space format.

Return Value

Type: ColorImagePoint
The resulting ColorImagePoint.

Remarks

Because depth image data and color image data come from separate sensors, pixels in the two images may not always line up exactly. The two sensors may have different fields of view, or may not be aimed precisely in the same direction. This means that a point near the edge of the depth image may correspond to a pixel just beyond the edge of the color image, or vice versa.

This function accepts coordinates outside the bounds of the depth image. It may return pixels outside the color image. This means that you can use data from the two images in combination, even when the two images do not line up completely. You must verify that the coordinates that are returned lie within the color image before using the coordinates to reference pixels in that color image.

The depth image coordinates you specify are not required to be within the bounds of the depth frame image, but they should not be too far outside the depth frame image bounds. If the coordinates are far outside the depth frame image, they are unlikely to map to coordinates inside the bounds of the color image. This function will then return color image coordinates that are unlikely to be useful.

Requirements

Namespace: Microsoft.Kinect

Assembly: Microsoft.Kinect (in microsoft.kinect.dll)

See Also

Reference

CoordinateMapper Class
CoordinateMapper Members
Microsoft.Kinect Namespace