Estimate Homography to do 2D to 3D integration (24): Coordinate transformation by using OpenNI + OpenCV + Kinect driver

I. 3D coordinate in the world system is only provided as doing "joint tracking" in MATLAB Kinect Library. Then, the substitution solution is to back to the OpenNI + Kinect official driver 1.8. Now it is possible to have the 3D coordinate in the world system:

The color stream and the depth stream

Depth values and its corresponding RGB values

3D coordinates in projection coordinate system and in world coordinate system

II. References for completing the upper mentioned processes: (all in Chinese)

    - General ideas in what is going on in OpenNI2

    - Common used functions in OpenNI2

    - How to get depth stream

    - How to get video stream (i,e., color stream)

    - Using OpenCV to draw out the color & depth stream

    - Transformation between different coordinate system

    - Explanation of projection coordinate system & world coordinate system

    - How to make a record