CODEWITHSUNDEEP
matlabimage-processingmappingkinect
At_Ta.stu
At_Ta.stu

Reputation: 31

How to get the coordinate of a pixel that is containing right hand wrist joint, in depth image using kinect?

I captured a depth image of a human body in the room and I collected and saved Skeletal data related to that depth image (the joints of wrists, elbows, ...).
Considering the joints' coordinates are in the camera space and depth image is in depth space, I was able to show the location of the right hand wrist joint on depth image using this code:

depthJointIndices = metadata.DepthJointIndices(:, :, trackedBodies);
plot(depthJointIndices(11,1), depthJointIndices(11,2), '*');

Now I want to know which pixel EXACTLY contains the right hand wrist joint, how can I do this properly?
I thought that I can get the coordinate of x,y of that joint using the code I used to show the right hand wrist joint.
As follows:

depthJointIndices = metadata.DepthJointIndices(:, :, trackedBodies);
x=depthJointIndices(11, 1)
y=depthJointIndices(11, 2)

But x,y are calculated as follows:

x = 303.5220

y = 185.6131

As you can see x,y are Floating-point numbers, but coordinates of pixels can't be Floating-point numbers.
So can anyone help me with this problem? how can I get coordinate of a pixel that is containing right hand wrist joint, in depth image, using kinect?

Upvotes: 2

Views: 107

Answers (1)

Rivindu Madushan
Rivindu Madushan

Reputation: 127

You can use the following 2 equations to derive the coordinates.

xCoordinate

yCoordinate

Here,

(U,V) and Z denote screen coordinates and depth value, respectively, Cx and Cy denote the center of a depth map, and fx and fy are the focal lengths of the camera. For Kinect-V1 cameras, fx = fy = 580

You can refer the paper Action Recognition From Depth Maps Using Deep Convolutional Neural Networks by P. Wang et.al for more information.

Upvotes: 1

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