c++ - Kinect v2 将颜色坐标映射到相机空间

Question

我正在尝试将坐标从颜色空间映射到相机空间。我使用的代码如下:

HRESULT ModelRecognizer::MapColorToCameraCoordinates(const std::vector<ColorSpacePoint>& colorsps, std::vector<CameraSpacePoint>& camerasps)
{
    //Access frame
    HRESULT hr = GetDepthFrame();

    if (SUCCEEDED(hr))
    {
        ICoordinateMapper* pMapper;
        hr = m_pKinectSensor->get_CoordinateMapper(&pMapper);
        if (SUCCEEDED(hr))
        {
            CameraSpacePoint* cameraSpacePoints = new CameraSpacePoint[cColorWidth * cColorHeight];
            hr = pMapper->MapColorFrameToCameraSpace(nDepthWidth * nDepthHeight, depthImageBuffer, cColorWidth * cColorHeight, cameraSpacePoints);
            if (SUCCEEDED(hr))
            {
                for (ColorSpacePoint colorsp : colorsps)
                {
                    long colorIndex = (long)(colorsp.Y * cColorWidth + colorsp.X);
                    CameraSpacePoint csp = cameraSpacePoints[colorIndex];
                    camerasps.push_back(csp);
                }
            }
            delete[] cameraSpacePoints;
        }
    }
    ReleaseDepthFrame();
    return hr;
}

我没有收到任何错误，但是，结果似乎旋转了 180 度并且有一个偏移量。有没有人建议我做错了什么？感谢您的帮助。

只是为了更全面地说明为什么我需要这个:

我正在使用开放式简历从彩色图像中跟踪粘贴在 table 上的彩色胶带。然后我在 3D 网格中的胶带位置创建墙。此外，我正在使用 KinectFusion 生成 table 上其他对象的网格。但是，当我在 Meshlab 中打开两个网格时，可以清楚地看到错位。由于我假设 KinectFusion 的网格是在 CameraSpace 中正确创建的，并且我在上述函数返回的 CameraSpacePoints 处准确创建了墙壁的网格，所以我很确定错误出在 CoordinateMapping 过程中。

可以在 http://imgur.com/UsrEdZb,ZseN2br#0 找到显示错位的图像, http://imgur.com/UsrEdZb,ZseN2br#1

Answer 1

我终于弄明白了:无论出于何种原因，返回的 CameraSpacePoints 在 X 和 Y 的原点处进行了镜像，而不是在 Z 中。如果有人对此有解释，我仍然很感兴趣。

现在可以使用以下代码:

/// <summary>
/// Maps coordinates from ColorSpace to CameraSpace
/// Expects that the Points in ColorSpace are mirrored at x (as Kinects returns it by default).
/// </summary>
HRESULT ModelRecognizer::MapColorToCameraCoordinates(const std::vector<ColorSpacePoint>& colorsps, std::vector<CameraSpacePoint>& camerasps)
{
    //Access frame
    HRESULT hr = GetDepthFrame();

    if (SUCCEEDED(hr))
    {
        ICoordinateMapper* pMapper;
        hr = m_pKinectSensor->get_CoordinateMapper(&pMapper);
        if (SUCCEEDED(hr))
        {
            CameraSpacePoint* cameraSpacePoints = new CameraSpacePoint[cColorWidth * cColorHeight];
            hr = pMapper->MapColorFrameToCameraSpace(nDepthWidth * nDepthHeight, depthImageBuffer, cColorWidth * cColorHeight, cameraSpacePoints);
            if (SUCCEEDED(hr))
            {
                for (ColorSpacePoint colorsp : colorsps)
                {
                    int colorX = static_cast<int>(colorsp.X + 0.5f);
                    int colorY = static_cast<int>(colorsp.Y + 0.5f);
                    long colorIndex = (long)(colorY * cColorWidth + colorX);
                    CameraSpacePoint csp = cameraSpacePoints[colorIndex];
                    camerasps.push_back(CameraSpacePoint{ -csp.X, -csp.Y, csp.Z });
                }
            }
            delete[] cameraSpacePoints;
        }
    }
    ReleaseDepthFrame();
    return hr;
}