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2014-04-08 05:31:16 -0500 | asked a question | Project openni_tracker skeleton to Image Coordinates 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: 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. |