Kinect将彩色图像映射到MATLAB中的深度图像 [英] Kinect mapping color image to depth image in MATLAB

问题描述

我使用Kinect v2传感器收集数据，并且我有一个深度图以及相应的RGB图像。我还校准了传感器并获得了深度相机和RGB相机之间的旋转和平移矩阵。

I have collected data using Kinect v2 sensor and I have a depth map together with its corresponding RGB image. I also calibrated the sensor and obtained the rotation and translation matrix between the Depth camera and RGB camera.

所以我能够重新投影RGB图像上的深度值，他们比赛。但是，由于RGB图像和深度图像的分辨率不同，因此在生成的图像中会出现很多洞。

So I was able to reproject the depth values on the RGB image and they match. However, since the RGB image and the depth image are of different resolutions, there are a lot of holes in the resulting image.

所以我试图移动另一种方式，即将颜色映射到深度而不是深度到颜色。

So I am trying to move the other way, i.e. mapping the color onto the depth instead of depth to color.

所以我遇到的第一个问题是RGB图像有3层，我必须转换RGB图像到灰度来做，我得不到正确的结果。

So the first problem I am having is that the RGB image has 3 layers and I have to convert the RGB image to grayscale to do it and I am not getting the correct results.

可以这样做吗？

之前有没有人试过这个？

Has anyone tried this before?

推荐答案

为什么你不能将Z深度适合RGB？

Why can't you fit the Z-depth to the RGB?

要使低分辨率图像适应高分辨率应该很容易，只要两者都代表相同大小的数据（即两个图像的角都是相同的点）

To fit the low res image to the high- res should be easy, as long as both represent the same size of data (i.e. corners of both images are the same point)

应该如此简单：

Z_interp=imresize(Zimg, [size(RGB,1) size(RGB,2)])

现在 Z_interp 应该具有相同的数量像素为RGB

Now Z_interp should have the same amount of pixels as RGB

如果你还想这样做，那么，使用相同的方法：

If you still want to do it the other way around, well, use the same approach:

RGB_interp=imresize(RGB, [size(Zimg,1) size(Zimg,2)])

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