查找Kinect for Windows V2的XYZ真实世界坐标 [英] Finding the XYZ real world coordinates of the Kinect for Windows V2

问题描述

大家好;

我是Kinect开发的新手，这可能是一个基本问题，但我在网上搜索并仍然对此事感到困惑。

所以我有一个深度图像，我从Kinect for windows V2获得，通过我在MATLAB上开发的一些算法，我能够以mm为单位输出Z距离。

所以现在我也希望得到X，Y真实世界坐标。 

所以要做到这一点我使用的是以下为旧系统找到的等式：

  x_world =（x_screen - c_x）* B / f_x;

  y_world =（y_screen - c_y）* B / f_y;

其中x_screen是红外摄像机的中点（我使用IR流= 512/2 = 256）和y_screen（424/2 = 412）

B是我在Zmm的距离

F_x和F_y是我通过自己的校准获得的镜头在xny方向上的焦距。

我正确地做到了吗？

我有什么方法可以使用o仔细检查我得到的结果？

谢谢;

阿里

解决方案

您可以使用坐标映射器，因为这会考虑相机内在函数：

http://msdn.microsoft.com/en-us/library/microsoft.kinect。 kinect.icoordinatemapper.mapdepthpointstocameraspace.aspx

http://msdn.microsoft.com/en-us/library/windowspreview.kinect.coordinatemapper.mapdepthframetocameraspace.aspx

Hi Everyone;

I am new to Kinect development and this might be sort of a basic question but I searched online and still confused about the matter.

So I have a depth image that I obtained from the Kinect for windows V2 and through some algorithm that I developed on MATLAB, I was able to output the Z distance in mm.

So now I want to have the X,Y real world coordinates as well. 

So to do that I am using the following equations that I found for the old system:

 x_world = (x_screen - c_x) * B/f_x;
 y_world = (y_screen - c_y) * B/f_y;

where x_screen is the midpoint of the IR camera ( I am using the IR stream=512/2=256) and the y_screen (424/2=412)

B is my distance in Zmm

F_x and F_y is the focal length of the lens in x n y direction that I obtained through my own calibration.

So am I doing it correctly?

Is there any way I can use to double check the results I am getting?

Thanks;

Ali

解决方案

You can use the coordinate mapper as this will take into account the camera intrinsics:

http://msdn.microsoft.com/en-us/library/microsoft.kinect.kinect.icoordinatemapper.mapdepthpointstocameraspace.aspx

http://msdn.microsoft.com/en-us/library/windowspreview.kinect.coordinatemapper.mapdepthframetocameraspace.aspx

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