The ability to see the world in 3D is what makes Kinect unique. We have already explored how the depth camera works in Chapter 1. Like the process we followed with the color video camera, we’ll now focus on acquiring data from the depth sensor.
Structure of a Depth Frame
Just a quick reminder of how the depth sensor works: first, it’s emitting an infrared light pulse. Then, the physical points reflect the pulse back to the sensor. Upon receiving the pulse, the sensor measures the time it took it to return. If the pulse took too long, it means the object is far from the sensor. On the ...
