使用 OpenCV 和 OpenNI 测量 2 点之间的距离

我正在使用OpenCV 2.4.0中内置的OpenNI访问，我正在尝试测量深度图中两点之间的距离。到目前为止，我已经尝试过：

#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
using namespace cv;
using namespace std;
Point startPt(0,0);
Point endPt(0,0);
void onMouse( int event, int x, int y, int flags, void* )
{
    if( event == CV_EVENT_LBUTTONUP) startPt = Point(x,y);
    if( event == CV_EVENT_RBUTTONUP) endPt   = Point(x,y);
}
int main( int argc, char* argv[] ){
    VideoCapture capture;
    capture.open(CV_CAP_OPENNI);
    //capture.set( CV_CAP_PROP_OPENNI_REGISTRATION , 0);
    unsigned t0=clock();
    if( !capture.isOpened() ){
        cout << "Can not open a capture object." << endl;
        return -1;
    }
    unsigned elapsed=clock()-t0;
    cout << "initialized in "<< elapsed <<" s. ready!" << endl;
    namedWindow( "depth", 1 );
    setMouseCallback( "depth", onMouse, 0 );
    for(;;){
        Mat depthMap;
        if( !capture.grab() ){
            cout << "Can not grab images." << endl;
            return -1;
        }else{
            Mat show,real,valid;
            if( capture.retrieve( depthMap, CV_CAP_OPENNI_DEPTH_MAP ) ){
                depthMap.convertTo( show, CV_8UC1, 0.05f);
            }
            capture.retrieve(valid,CV_CAP_OPENNI_VALID_DEPTH_MASK);
            if( capture.retrieve(real, CV_CAP_OPENNI_POINT_CLOUD_MAP)){
                unsigned int sp = valid.at<unsigned char>(startPt.x, startPt.y);
                unsigned int ep = valid.at<unsigned char>(endPt.x, endPt.y);
                if(sp == 255 && ep == 255){
                    Vec3f s = real.at<Vec3f>(startPt.x, startPt.y);
                    Vec3f e = real.at<Vec3f>(endPt.x, endPt.y);
                    float dx = e[0]-s[0];
                    float dy = e[1]-s[1];
                    float dz = e[2]-s[2];
                    float dist = sqrt(dx*dx + dy*dy + dz*dz);
                    putText(show,format("distance: %f mn",dist),Point(10,10),FONT_HERSHEY_PLAIN,1,Scalar(255));
                }
            }
            circle(show,startPt,3,Scalar(255),3);
            circle(show,endPt,3,Scalar(192),3);
            line(show,startPt,endPt,Scalar(128));
            imshow("depth",show);
        }
        if( waitKey( 30 ) >= 0 )    break;
    }
}

但我有几个问题：

1. 除非我先检查程序的有效深度掩码中的值有时会崩溃（我想是由于数据不好）
2. 据我了解，点云图以米 （CV_32FC3） 为单位返回 XYZ 数据，但我在屏幕上看到的数字看起来是错误的。

我是否使用正确的方法来检索 xyz 值和计算距离？

我可能遗漏的任何细节？