Kinect Azure Body Tracking Coordinate Mapping

Question

I am wondering, is there is a way to get Joint Position in color and depth space, similar to the v2 coordinate mapper MapCameraPointToColorSpace and MapCameraPointToDepthSpace?

Also how can I map the body index image to color image?

Thanks

Answer 1

It seems that MapCameraPointToColorSpace and MapCameraPointToDepthSpace are replaced by Calibration TransfromTo2D.

I haven't found a solution for mapping the body index image.

Answer 2

The k4abt_skeleton_t from Azure Kinect Body Tracking SDK provides 3D joint locations in the depth camera space. You can project the skeleton joints into the color sensor space using the provided 3d to 2d conversion APIs from the Azure Kinect Sensor SDK.

• k4a_calibration_3d_to_2d
• k4a::calibration::convert_3d_to_2d

"Transform a 3D point of a source coordinate system into a 2D pixel coordinate of the target camera."

For transforming the body index image to the RGB image, take a look at the following APIs in the Azure Kinect Sensor SDK:

• k4a::transformation::depth_image_to_color_camera_custom

• k4a_transformation_depth_image_to_color_camera_custom

"Transforms depth map and a custom image into the geometry of the color camera."