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OpenKinect / libfreenect

Drivers and libraries for the Xbox Kinect device on Windows, Linux, and OS X
http://openkinect.org
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Distance issues with Kinect and R Pi 4 #662

Open piran-prog opened 2 years ago

piran-prog commented 2 years ago

Along with the other issues I'm having I've been trying the regview and I'm getting things like this: image The foreground is lighter and then shades to dark blue over about 2 meteres and then just shows the RGB image but then further away starts showing distance colours again

piedar commented 2 years ago

I think this is a limitation of the depth shading algorithm in freenect-regview but I'm not sure how to fix it. Ideally there should be a smooth color range from near to far. As far as I can tell, the actual depth values are correct.

piran-prog commented 2 years ago

Yes looks like an issue with regview, some of the other test apps seem to get it right. I managed (with a lot of effort) to get it working in ROS and that works but I'm trying to get it working with ORBSLAM3 and it's getting some of the depth wrong there: image where the upper cloud of points is all on a single plane but should actually be at the front with the other points.