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OpenKinect / libfreenect2

Open source drivers for the Kinect for Windows v2 device
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3D projection with REGISTERED images #1062

Open DarioTurchi opened 5 years ago

DarioTurchi commented 5 years ago

Hello, I need to project in the 3D space pixels from a REGISTERED (i.e. aligned with RGB) depth image. Since the registration process account for the intrinsic sensor parameters, I don't really know if I should consider them again for the 3D projection process. To be clear and dirty, should I apply X = (x-cx)Z / fx or X = x Z / f ?

xlz commented 5 years ago

You would use the first one with a pinhole camera model.