I am trying to figure out what is the raw data in Kinect V2? ... I know we can convert these raw data to meters and to gray color to represent the depth .... but what is the unit of these raw data ? and why all the images that captured by Kinect are mirrored?
What is the unit for raw data in Kinect V2?
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The raw values stored in the depth image are in millimeters. You can get the X and Y values using the pixel position along with the depth camera intrinsic parameters. If you want I could share a Matlab code that converts the depth image into X,Y,Z values.
Yes, the images are mirrored in Windows-SDK and in the "libfreenect2" which is a open source version of SDK. I couldn't get a solid answer why it is so, but you could look at the discussion available in the link.
There are different kinds of frame which can be captured through Kinect V2. Every raw data captured has a different unit. Like, for depth frame it is millimeters, for color it is RGB (0-255, 0-255, 0-255), for bodyFrames it is 0 or 1 ( having same resolution as depth frame, but can identify up-to a maximum number of human bodies at a time ) and etc. Ref: https://developer.microsoft.com/en-us/windows/kinect