java 图片深度_将深度图像与RGB图像对齐

我正在尝试使用Kinect使用Python和libfreenect捕获的图像生成点 Cloud ，但我无法将深度数据与Kinect拍摄的RGB数据对齐 .

cx_d = 3.3930780975300314e+02

cy_d = 2.4273913761751615e+02

fx_d = 5.9421434211923247e+02

fy_d = 5.9104053696870778e+02

fx_rgb = 5.2921508098293293e+02

fy_rgb = 5.2556393630057437e+02

cx_rgb = 3.2894272028759258e+02

cy_rgb = 2.6748068171871557e+02

RR = np.array([

[0.999985794494467, -0.003429138557773, 0.00408066391266],

[0.003420377768765,0.999991835033557, 0.002151948451469],

[-0.004088009930192, -0.002137960469802, 0.999989358593300 ]

])

TT = np.array([ 1.9985242312092553e-02, -7.4423738761617583e-04,-1.0916736334336222e-02 ])

# uu, vv are indices in depth image

def depth_to_xyz_and_rgb(uu , vv):

# get z value in meters

pcz = depth