如何将一个kinectsensor的坐标系更改为另一个kinectsensor [英] How to change the coordinate system of one kinectsensor to another kinectsensor

问题描述

我放置了一个与我相对的kinect传感器V2和另一个与我相邻的kinect传感器V2，这样两个kinect传感器的角度为
为90度。我想将相邻的传感器坐标系转移到相反的kinect传感器坐标系。

请建议我给出答案。

谢谢

Thanks

kirubha

推荐答案

您需要执行立体声校准。有很多方法可以做到这一点，但它们通常都涉及找到两个图像空间中存在的4个或更多点。 

You need to perform stereo calibration. There are many ways to do this, but they generally all involve finding 4 or more points that exists in both image spaces. 

Matlab：http：//uk.mathworks。 com / help / vision / examples / stereo-calibration-and-scene-reconstruction.html

Matlab: http://uk.mathworks.com/help/vision/examples/stereo-calibration-and-scene-reconstruction.html

OpenCV：  http：//docs.opencv.org/modules/calib3d/doc/ camera_calibration_and_3d_reconstruction.html

OpenCV: http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

注意事项：翻转您的Kinect图像，因为它们默认从传感器镜像。决定是否要使用彩色或红外图像，因为颜色具有更高的分辨率，红外激光的主动照明可以使白色和黑色的棋盘格b $ b模式饱和，但红外相机与深度处于相同的空间数据。 

Points to note: Flip your Kinect images, as they come mirrored by default from the sensor. Decide if you want to use colour or IR images as colour has higher resolution, the active illumination of the IR lasers can saturate a white and black checker-board pattern, but the IR camera is in the same space as the depth data. 

如果你想非常准确地做到这一点，你还需要仔细校准内在的相机参数。

If you want to do this very accurately you will need to carefully calibrate the intrinsic camera parameters also.

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