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Using CL NUI Kinect Drivers, Convert Depth Color to Actual Relative Distance

I play with the Kinect, CL NUI driver and try to get the relative depth of the elements.

The library provides a way to get an image representing the depth of an object on the screen. Here is an example:
Kinect depth image

Is there an easy way to convert from pixel color to image depth? For example, the closest color may be depth 0, and the farthest color may be depth 1.

Does anyone know how to do this?

I found these cacluations on how to convert depth data to color, what I want is inverse:

float RawDepthToMeters(int depthValue)
{
    if (depthValue < 2047)
    {
        return float(1.0 / (double(depthValue) * -0.0030711016 + 3.3309495161));
    }
    return 0.0f;
}

Vec3f DepthToWorld(int x, int y, int depthValue)
{
    static const double fx_d = 1.0 / 5.9421434211923247e+02;
    static const double fy_d = 1.0 / 5.9104053696870778e+02;
    static const double cx_d = 3.3930780975300314e+02;
    static const double cy_d = 2.4273913761751615e+02;

    Vec3f result;
    const double depth = RawDepthToMeters(depthValue);
    result.x = float((x - cx_d) * depth * fx_d);
    result.y = float((y - cy_d) * depth * fy_d);
    result.z = float(depth);
    return result;
}

Vec2i WorldToColor(const Vec3f &pt)
{
    static const Matrix4 rotationMatrix(
                            Vec3f(9.9984628826577793e-01f, 1.2635359098409581e-03f, -1.7487233004436643e-02f),
                            Vec3f(-1.4779096108364480e-03f, 9.9992385683542895e-01f, -1.2251380107679535e-02f),
                            Vec3f(1.7470421412464927e-02f, 1.2275341476520762e-02f, 9.9977202419716948e-01f));
    static const Vec3f translation(1.9985242312092553e-02f, -7.4423738761617583e-04f, -1.0916736334336222e-02f);
    static const Matrix4 finalMatrix = rotationMatrix.Transpose() * Matrix4::Translation(-translation);

    static const double fx_rgb = 5.2921508098293293e+02;
    static const double fy_rgb = 5.2556393630057437e+02;
    static const double cx_rgb = 3.2894272028759258e+02;
    static const double cy_rgb = 2.6748068171871557e+02;

    const Vec3f transformedPos = finalMatrix.TransformPoint(pt);
    const float invZ = 1.0f / transformedPos.z;

    Vec2i result;
    result.x = Utility::Bound(Math::Round((transformedPos.x * fx_rgb * invZ) + cx_rgb), 0, 639);
    result.y = Utility::Bound(Math::Round((transformedPos.y * fy_rgb * invZ) + cy_rgb), 0, 479);
    return result;
}

My Math matrix is ​​weak, and I'm not sure how to cancel the calculations.

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2

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CLNUIDevice.GetCameraDepthFrameRAW. . .. 24 RGB (32, ARGB). , :

    private int colorToDepth(Color c) {
        int colorInt = c.ToArgb();

        return (colorInt << 16) >> 16;
    }

16, 11- 0 16- . .. , : 1111 1111 0000 0 ### #### ####, 1 -, , "#" . Bitshifting the left 16 0000 0 ### #### #### 0000 0000, 16 : 0000 0000 0000 0 ### ##### ####

+3

, , , , , Kinect, "" ( x, y, z) DepthToWorld, 2D- WorldToColor. ( ) Kinect. ?

, , Kinect, RawDepthToMeters ?

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