从多个kinects合并Cloud point [英] Mergeing Cloud point from multiple kinects

问题描述

我正在尝试使用多个kinects创建头像。

I am trying to create avatar using multiple kinects.

为此，我尝试使用  FusionDepthProcessor .AlignPointClouds用于对kinect摄像机进行外部校准。

For this, I am trying to use FusionDepthProcessor.AlignPointClouds to do extrinsic calibration of kinect cameras.

步骤1：捕获< strong> 飞机场景的FusionPointCloudImageFrame
使用两个kinects。

Step 1 : Capture FusionPointCloudImageFrame of a plane scene using two kinects.

步骤2：使用步骤1中的FusionDepthProcessor.AlignPointClouds获取转换（校准）矩阵。

Step 2 : Get transformation(calibration) matrix using FusionDepthProcessor.AlignPointClouds  from step 1.

当我应用此时转换（从第2步开始），同时使用FusionFloatImageFrame和从两个相机捕获的FusionColorImageFrame的ColorReconstruction.ProcessFrame，结果失真甚至更接近我的预期。

When I apply this transformation(from Step 2) while ColorReconstruction.ProcessFrame with FusionFloatImageFrame and FusionColorImageFrame captured from both cameras, results are distorted not even closer to what I expect.

即使我处理了单相机框架ProcessFrame-> CalculateMesh为平面对象提供3D凸包结果。

More than that even if I process single camera frame ProcessFrame->CalculateMesh giving 3D convex hull like result for planer objects.

这里我假设FusionDepthProcessor.AlignPointClouds类似于ICP算法从两点云转换对于同一场景。

Here I assume FusionDepthProcessor.AlignPointClouds is similar to ICP algorithm to get transformation from two point cloud for same scene.

任何想法，我缺少什么？ 

Any idea, what I am missing? 

谢谢。

推荐答案

通过飞机场景，你的意思是一个完全平坦的物体/场景？如果是这样，ICP算法可能无法收敛到正确的转换，因为它需要3D结构来对齐。

By plane scene, do you mean a completely flat object/scene? If so, the ICP algorithm will likely fail to converge at the correct transformation as it needs 3D structure to align.

此外，您可能需要小心确保提供正确的从多个Kinects的深度帧创建点云时的相机参数。 

Also you may need to be careful to make sure that you are supplying the correct camera parameters when you create point clouds from depth frames from multiple Kinects. 

您看到的所谓平面曲面上的3D凸包可能是飞行时间技术的一个特征。飞行时间在某些情况下表现不佳，例如尖角。

The 3D convex hull on supposedly planar surfaces you see may be a feature of the time of flight technology. Time of flight does not behave well in certain situations, such as sharp corners.

这篇关于从多个kinects合并Cloud point的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！