在骨架坐标和摄像机坐标之间转换 [英] Transform between Skeleton coordinate and camera coordinate

问题描述

我正在使用跟踪器进行骨架跟踪，效果很好。

I'm doing skeleton tracking using the tracker which works good.

我的问题是我需要代表RGB相机坐标系中的骨架。  （我不是指彩色图像中点的2D图像坐标，可用在CoordinateMapper中使用  MapSkeletonPointToColorPoint
的功能。）

My problem is that I need to represent the skeleton in RGB camera's coordinate system. (I do not mean the 2D image coordinate of the points in the color image, which is available using the function of MapSkeletonPointToColorPoint in CoordinateMapper.)

我会喜欢在RGB摄像机的坐标系中获得骨架点的3D位置（在Skeleton坐标系中），当Skeleton
坐标和RGB摄像机坐标之间的刚体变换已知时，这应该很简单。但是，它似乎在SDK中不可用。

我认为Skeleton坐标系与深度相机的坐标系一致，但有些评估表明它不会。我已尝试在RGB相机和红外相机之间进行显式校准，以获得骨架和RGB坐标之间的相对变换
，但它不起作用。 （事实上​​，我校准了多个kinects，相似的变换估计相似，但颜色深度配准以及骨架-RGB注册是完全不同的设备
by device。

I thought the Skeleton coordinate system would coincide with the depth camera's coordinate system, but some evaluations shows that it would not. I have tried explicit calibration between the RGB camera and IR camera in order to get the relative transformation between the skeleton and RGB coordinate, but it does not work. (In fact, I calibrated multiple kinects, and the relative transformations are estimated similarly, but the color-depth registration as well as the skeleton-RGB registration is quite different device by device.

有没有办法将Skeleton坐标中的3D点转换为RGB相机的坐标系？

Is there any way to convert the 3D points in Skeleton coordinate into the RGB camera's coordinate system?

推荐答案

了解有没有用于彩色相机的3D色彩空间。彩色相机无法理解三维世界。您可以将色彩空间映射到深度空间，但有些区域的IR和2D到3D投影将导致无效的
mappings。

Understand that there is no 3D color space for a color camera. A color camera has no understanding of a 3 dimensional world. You could map the color space to depth space, but there are areas where the IR and 2D to 3D projection will result in a invalid mappings.

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