将kinect RGB和深度值转换为XYZ坐标 [英] Convert kinect RGB and depth values to XYZ coordinates

问题描述

我正在寻找一种将kinect RGB和深度值转换为XYZ坐标的简单方法 使用MATLAB. 我的目标是一个函数，其输入为: Kinect 相机拍摄的每个点的RGB和深度值，以及每个点的x，y和z值的输出.

I'm looking for an easy way to Convert kinect RGB and depth values to XYZ coordinates using MATLAB. My goal is a function with an input of: RGB and depth values of each point taking by Kinect camera, and output of: x,y and z values of each point.

[RGB，depth] = RGB_D2XYZ(XYZ)

[RGB, depth] = RGB_D2XYZ(XYZ)

谢谢， 本

推荐答案

您可以看一下这篇很棒的文章.它们具有一个函数DepthToCloud.m.您只需要确保通过图像中心和左上角即可.

You can have a look to this great article. They have a function call DepthToCloud.m. You just need to be sure to pass Image center and top-left corner.

他们也使用Kinect，因此您实际上不需要更改很多参数.

They are using Kinect too, so you don't really need to change a lot of parameter.

可以在此处

编辑

您可以使用mexopencv或OpenCV Matlab包装器来捕获图像并进行校准.在OpenCV之后，有一个很棒的函数调用reporjectImageTo3D.但是此函数需要矩阵Q.它是投影矩阵.如果您想通过这种方式查看OpenCV文档.另外，depthToCloud也真的很好.

You can use mexopencv or OpenCV Matlab wrapper, to capture image and to do calibration. After OpenCV have a great function call reporjectImageTo3D. But this function need matrix Q. It's the projection matrix. Have a look to OpenCV documentation if you want to do by this way. Else depthToCloud is really good too.

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