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bayesian-object-tracking / dbot_ros

ROS package of Depth-Based Bayesian Object Tracking
GNU General Public License v2.0
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kinect v2 particle tracker fails #3

Closed balakumar-s closed 6 years ago

balakumar-s commented 7 years ago

When using the particle tracker with kinect v2, the object starts moving towards the camera until it reaches the camera origin. Has anyone got it to work with kinect2?

jbohg commented 6 years ago

Turns out that there have been two issues with Kinect2.

  1. Invalid depth values are encoded as 0.0 instead of NANs as was the case for Kinect1/XTION
  2. The depth image encoding is 16U instead of 32F and it delivers in millimeters instead of meters (Thanks @amichlee!)

This had to be fixed in dbot and dbot_ros. Should be fixed now for 16.04. Couldn't test for 14.04 though. Would be great if someone who still runs 14.04 + KInect2 could test these fixes.

balakumar-s commented 6 years ago

Thanks for the fix :+1: