K4W v2相机校准 [英] K4W v2 Camera Calibration

问题描述

所有

我想得到X对于给定的深度值（3D世界中的Z坐标），3D世界中关节的Y值和Y值。为了做到这一点，我认为
深度相机内置是必要的。

我称之为v2 SDK获取关节数据 ，X和
Y值of Joint.Position介于-1到1之间，所以我想传感器可能已将这些值标准化了 在工厂里，我想知道
这个值的构造方式 ，
任何代数公式 ？由于我不知道这些值的具体含义，我尝试通过调用  MapCameraPointToDepthSpace  方法，
但是当我最终获得深度图像平面中关节的相应X和Y值并尝试测试
< span style ="color：＃333333; font-family：'Segoe UI'，'Lucida Grande'，Verdana，Arial，Helvetica，sans-serif;字体大小：14px的; line-height：20.1620178222656px">相应的深度值（比方说Z值），我发现    Z值不是
等于joint.Position.Z这是应该是相同的，平均差异大约是30 + mm。这对我的申请来说是不可接受的误差范围。

我已经获得了深度相机内容，我做了需要这些  关节的X和Y值。如何使用这些标准化值转换为正确的
物理位置？

提前致谢。对不起 语法错误。

解决方案

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你从关节位置获得的值是在相机空间（米）中。它们在-1.0和1.0之间的事实是因为你在距离相机的那个距离之内。如果你继续走得更远返回并朝向字段
的范围，您将看到值发生变化。

如果您想知道这一点，请使用坐标映射器将摄像机空间点映射到深度空间点将投射到深度平面上。

Hi,all

I want to get the X and Y values of joints in the 3D world for a given depth value (the Z co-ordinate in the 3D world). In order to do so,  I think the depth camera intriniscs is necessary.

I call the v2 SDK to get the joints data, the X and Y values of joint.Position is between -1 to 1, so I think maybe the sensor has already normalized these values in the factory,  I want to know how this value is constructed, any algebraic formula? Since I do not know the specific meaning of these values, I try to map these values to depth by calling MapCameraPointToDepthSpace method, but when I finally get  the corresponding X and Y values of joints in the depth image plane and try to test the corresponding depth value(let 's say the Z value), I found that  the Z value is not equal to the joint.Position.Z which is supposed to be the same, and the average difference  is roughly 30+mm.This is unacceptable error range for my application.

I have already obtained the depth camera intriniscs, and I do need these X and Y values of joint.Position, How can I use these normalized values to convert to the correct physical position?

Thanks in advance. Sorry for the grammar mistakes.

解决方案

The values you are getting from the joint positions are in camera space(meters). The fact they are between -1.0 and 1.0 is because you are within that distance from the camera. If you continue to go further back and towards the extents of field of view you will see the values change.

Use the coordinate mapper to map the cameraspacepoint to a depthspacepoint if you wish to know how that point will project onto the depth plane.

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