Kinect point cloud curved walls

Question

In my Kinect project, I am trying to create a point cloud from a Kinect sensor. When displaying three-dimensional points, I get a distorted model where the walls and floors are curved.

EDIT: I am using the Microsoft Kinect SDK. This point cloud was created using a sensor two meters from the wall.

Answer 1

I found out the answer. I used a depth image that is not real world coordinates. I used the CoordinateMapper class in the Kinect SDK to convert the depth image to SkeletonPoints, which are real-world coordinates.

It will look something like this:

using (DepthImageFrame depthFrame = e.OpenDepthImageFrame()) { DepthImagePixel[] depth = new DepthImagePixel[depthFrame.PixelDataLength]; SkeletonPoint[] realPoints = new SkeletonPoint[depth.Length]; depthFrame.CopyDepthImagePixelDataTo(depth); CoordinateMapper mapper = new CoordinateMapper(sensor); mapper.MapDepthFrameToSkeletonFrame(DEPTH_FORMAT, depth, realPoints); }