Kinect has two video cameras, one is for color image, another one is for Depth image. And two sensors are located geometrical differently,therefore, the colour image and depth image are not pixel-to-pixel synced for a same scene.
The sample data also contains a file of tracked points and its related Animation Unit. The tracked points data is recorded based on the coordinates of RGB video sensor, so in order to use these information for depth video, calibration is required.
There are varieties existing tools for calibration, all I need to do is to capture several pictures of a chessboard pattern from both RGB and IR cameras.
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