I'm using ROS to control a Kinect, and I need to project the skeleton points I get with openni_tracker to image coordinates. I found an answer about converting world coordinates to image coordinates (P_screen = I * P_world, where I is the 3x4 intrinsics matrix), however, the mapping I get seems incorrect.
An example of the /tf topic I have recorded is below:
transforms: - header: seq: 0 stamp: secs: 1385988109 nsecs: 907731078 frame_id: /skeleton/openni_depth_frame child_frame_id: /skeleton/head_4 transform: translation: x: 1.97650313527 y: 0.467346462985 z: 0.124516482569 rotation: x: 0.320303175814 y: 0.601755401028 z: 0.604153236547 w: 0.412668365236 ---
Could you please help me with the needed transform to get the image coordinates (RGB topic: /camera/rgb/image_color) of the above point (the head of Kinect skeleton). The rest of the skeleton point have similar format.
Also, I want to point out, that I used the skeleton_markerspackage and the visualization of the joints of the skeleton seems correct. However, the problem is that I don't know how to project those points on the RGB image.
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