关于Kinect SDK 2.0的问题

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我正在使用Kinect 2和Kinect SDK 2.0。

Hi, I'm using Kinect 2 and Kinect SDK 2.0.

我有几个关于坐标映射的问题：

I have couple of questions about coordinate mapping:

1。如何将相机空间点（三维坐标系中的点）传递到深度空间的深度空间？

1. How to transfer a camera space point (point in 3d coordinate system) to depth space with depth value?

当前 MapCameraPointToDepthSpace方法只能返回深度空间坐标。

Current MapCameraPointToDepthSpace method can only return the depth space coordinate.

但没有深度值，这种方法没用。

But without depth value, this method is useless.

有没有人知道如何获得深度值？

Did anyone know how to get the depth value?

2。如何获得内置的彩色相机？

2. How to get the color camera intrinsic?

只有一个GetDepthCameraIntrinsics方法才能获得深度相机内在。

There is only a GetDepthCameraIntrinsics methos to get depth camera intrinsic.

但彩色相机怎么样？

3。如何使用深度相机内在？

3. How to use the depth camera intrinsic?

似乎Kinect 2考虑了径向失真。

Seems that the Kinect 2 consider the radial distortion.

但是如何使用这些内在来进行转换在深度像素和3d点之间？

But how to use these intrinsic to do the transformation between depth pixel and 3d point?

有没有示例代码可以做到这一点？

Is there any example code can do this?