Kinect：从色彩空间到世界坐标 [英] Kinect: From Color Space to world coordinates

问题描述

我使用kinect的rgb数据跟踪球。之后，我查找相应的深度数据。这两个都是工作的辉煌。现在我想有实际的x，y，z世界坐标（即骨架空间），而不是x_screen，y_screen和深度值。不幸的是，kinect sdk给出的方法（ http://msdn.microsoft.com/en-us/library /hh973078.aspx ）don`t help me。基本上我需要一个函数NuiImageGetSkeletonCoordinatesFromColorPixel，但我不存在。所有的功能基本上是在相反的方向。

I am tracking a ball using the rgb data from kinect. After this I look up the corresponding depth data. Both of this is working splendid. Now I want to have the actual x,y,z world coordinates (i.e skeleton Space) instead of the x_screen, y_screen and depth values. Unfortunately the methods given by the kinect sdk (http://msdn.microsoft.com/en-us/library/hh973078.aspx) don`t help me. Basically i need a function "NuiImageGetSkeletonCoordinatesFromColorPixel" but i does not exist. All the functions basically go in the opposite direction

我知道这可能可以做openNI，但我不能使用它的其他原因。

I know this can probably be done with openNI but i can not use it for other reasons.

有没有为我做这个功能，还是我自己做转换？如果我必须自己做，我该怎么做呢？我草拟了一个小图表 http://i.imgur.com/ROBJW8Q.png - 你认为这将工作？

Is there a function that does this for me or do i have to do the conversion myself? If I have to do it myself, how would i do this? I sketched up a little diagram http://i.imgur.com/ROBJW8Q.png - do you think this would work?

推荐答案

检查CameraIntrinsics。

Check the CameraIntrinsics.

typedef struct _CameraIntrinsics
{
    float FocalLengthX;
    float FocalLengthY;
    float PrincipalPointX;
    float PrincipalPointY;
    float RadialDistortionSecondOrder;
    float RadialDistortionFourthOrder;
    float RadialDistortionSixthOrder;
}   CameraIntrinsics;

您可以从 ICoordinateMapper :: GetDepthCameraIntrinsics 。

然后，对于深度空间中的每个像素（u，v，d）

Then, for every pixel (u,v,d) in depth space, you can get the coordinate in world space by doing this:

x = (u - principalPointX) / focalLengthX * d;
y = (v - principalPointY) / focalLengthY * d;
z = d;

对于颜色空间像素，您需要首先找到其关联的深度空间像素， code> ICoordinateMapper :: MapCameraPointTodepthSpace 。由于并非所有颜色像素都具有相关联的深度像素（1920x1080 vs 512x424），因此您不能拥有全高清色点云。

For color space pixel, you need to first find its associated depth space pixel, which you should use ICoordinateMapper::MapCameraPointTodepthSpace. Since not all color pixel has its associated depth pixel (1920x1080 vs 512x424), you can't have the full-HD color point cloud.

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