Does Kinect Infrared View Have an offset with the Kinect Depth View

Depth and Color streams are not taken from the same point so they do not correspond to each other perfectly. Also they FOV (field of view) is different.

1. cameras

   • IR/Depth FOV 58.5° x 45.6°
   • Color FOV 62.0° x 48.6°
   • distance between cameras 25mm

2. my corrections for 640×480 resolution for both streams

   if (valid depth)
    {
    ax=(((x+10-xs2)*241)>>8)+xs2;
    ay=(((y+30-ys2)*240)>>8)+ys2;
    }
   

   • x,y are in coordinates in depth image
   • ax,ay are out coordinates in color image
   • xs,ys = 640,480
   • xs2,ys2 = 320,240

   as you can see my kinect has also y-offset which is weird (even bigger then x-offset). My conversion works well on ranges up to 2 m I did not measure it further but it should work even then

3. do not forget to correct space coordinates from depth and depth image coordinates

   pz=0.8+(float(rawdepth-6576)*0.00012115165336374002280501710376283);
   px=-sin(58.5*deg*float(x-xs2)/float(xs))*pz;
   py=+sin(45.6*deg*float(y-ys2)/float(ys))*pz;
   pz=-pz;
   

   • where px,py,pz is point coordinate in [m] in space relative to kinect

   I use coordinate system for camera with opposite Z direction therefore the negation of sign

PS. I have old model 1414 so newer models have probably different calibration parameters