Point cloud creation and lookup tables

code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS

Apache License 2.0

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Point cloud creation and lookup tables #534

Closed jenbu closed 5 years ago

jenbu commented 5 years ago

Hello, ive been trying to understand the process of creating a point cloud from the depth map. In createCloud() function in the viewer, I see that lookup table for x and y are multiplied with the depth value to get the points x and y value. Is the lookup table used for correcting depth errors from the ToF camera? Anyone know any good explanation for this process?

jenbu commented 5 years ago

Nevermind, its only the projection into 3D world space. Attached a link if other people are wondering the same. http://blog.elonliu.com/2017/03/18/kinect-coordinate-mapping-summary-and-pitfalls/