如何使用Matlab或C#在Kinect V2中将颜色流(1920x1080)转换为深度流(512x424) [英] How can I convert color stream (1920x1080) into depth stream(512x424) in Kinect V2 using matlab or C#

问题描述

Kinect V2颜色流支持的格式为:1920x1080.但kinect V2深度流格式为:512x424.现在，当我为两个传感器启动实时蒸汽时，由于分辨率不同，它们的尺寸也有所不同.我无法调整它们的大小，因为我需要坐标.所以当我使用Imresize()调整大小时，坐标不匹配.我已经读过matlab文档，他们说硬件仅分别支持这两种格式，现在我该如何在代码中做到这两个流具有相同的分辨率.我尝试了两天，但失败了.此外，我想通过任何方法进行操作，以便拍摄第一张深度图像，并基于此深度分辨率拍摄RGB或彩色图像.

Kinect V2 color stream supported format is : 1920x1080. But kinect V2 depth stream format is : 512x424. Now when I start live steam for both sensors then they have different sizes because of different resolution. I cant resize them, because I need coordinates . so when I resize using Imresize(),the coordinates are not matched. I already read matlab documentation.They said hardware only supports this two format respectively.Now How can i do this in code so that both stream have the same resolution. I tried two days long but failed.Moreover, I want to do it by any process so that i take first depth image and based on this depth resolution it will take RGB or color image.

我的项目是从深度图像中提取线条并将其映射到kinect v2的RGB图像上.但是那里的分辨率不一样.因此[x，y]坐标发生了变化.因此，当我将其映射到RGB时，它与深度图像的坐标不匹配.我该如何解决?我以为我会更改分辨率，但是在kinect V2中，布局无法更改.现在我该如何在编码中做到这一点.

My project is I take the line from depth image and map them on RGB image of kinect v2. but there resolution are not same. so [x,y] cordinates changed. so when I map it on RGB it not matched with the coordintes of depth image. how can i solve it ?. I thought i will change the resolution but in kinect V2 resoution cant change.Now how can i do it in coding.

这里的链接是这样做的.我想这样做matlab或c#

推荐答案

对于工作示例，您可以检查 VRInteraction .我将深度图像映射到RGB图像以建立3D点云.

For working example, you can check VRInteraction. I map depth image to RGB image to build up 3D point cloud.

您想要实现的目标称为注册.

What you want to achieved is called Registration.

1. 校准深度相机以找到深度相机投影矩阵(使用opencv)

2. 校准RGB摄像机以找到RGB摄像机投影矩阵(使用opencv)

1. Calibrate Depth camera to find the Depth camera projection matrix (Using opencv)

2. Calibrate RGB camera to find the RGB camera projection matrix (Using opencv)

-您可以将深度图像注册为RGB图像:

正在映射给定深度图像的相应RGB像素.最终将获得1920x1080 RGB深度图像的分辨率.由于深度像素较少，因此并非所有RGB像素都具有深度值.为此，您需要

Which is mapping the corresponding RGB pixel of the given Depth image. This will end up with a resolution of 1920x1080 RGB-Depth image. Not all the RGB pixels will have a depth value since there are less depth pixels. For this you need to

• 使用深度相机投影矩阵计算每个深度像素的真实世界ordinates()
• 计算预先计算出的真实世界坐标的RGB像素的坐标

• 使用先前计算出的RGB像素坐标找到RGB图像中的匹配像素

• calculate real world ordinates() of each depth pixel using Depth camera projection matrix
• calculate the coordinates of the RGB pixel of that previosly calculated real world ordinates

• Find the matching pixel in the RGB image using previously calculated coordinates of the RGB pixel

-您可以将RGB图像图像注册到深度图像:

正在映射给定RGB图像的相应深度像素.最终将获得512x424 RGB深度图像的分辨率.为此，您需要

Which is mapping the corresponding Depth pixel of the given RGB image. This will end up with a resolution of 512x424 RGB-Depth image. For this you need to

• 使用深度相机投影矩阵计算每个RGB像素的现实世界ordinates()
• 计算先前计算的真实世界坐标的深度像素的坐标
• 使用先前计算的RGB像素坐标在深度图像中找到匹配的像素

如果要实时实现这一目标，则需要考虑使用GPU加速.特别是如果您的深度"图像包含超过30000个深度点.

If you want to achieved this in real-time, you will need to consider about using GPU accelerating. Specially if your Depth image contains more than 30000 depth points.

我在这件事上写了硕士论文.如果您还有其他问题，我们很乐意为您提供帮助.

I wrote my masters theses on this matter. if you have more questions, I'm more than happy to help you.

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