Asus, Kinect coordinate system definitions might not match in cob_openni2_tracker

[ipa-rmb]

It is possible that the Asus Xtion and the Kinect sensor and maybe even the openni_launch and openni2_launch drivers output data with different definitions of coordinate systems (or at least in their internal representations). If that is true, the cob_openni2_tracker software needs to identify the utilized device or driver and convert coordinates accordingly. The current setting is good for Asus Xtion with openni2_launch. There is no Kinect available for testing at this moment.

[rpapallas]

We have a Kinect 2 (Xbox One) available. We are interested making this working with the project, so we are available to provide any testing required to make this happen.

[ipa-rmb]

If somebody is using the cob_openni2_tracker software together with a Kinect and observes that the point cloud with detected people does not match the RGB-D point cloud from the sensor, please report me that issue together with a screenshot from Rviz showing both point clouds and tf.

[ipa-rmb]

Yes you might try. I am not sure, though, whether openni2_tracker is meant to work with that hardware, because it is literally a completely different sensor. To my knowledge, the tracker goes deep into the hardware driver of the Asus or Kinect 1 device. So you might not be successful with a Kinect 2 and this software. But feedback is welcome.

[rpapallas]

@ipa-rmb Of course. I may be able to give some information about it later this month.

[fmessmer]

https://github.com/ipa320/cob_robots/issues/669 might be related

[fmessmer]

asus coordinate systems have been fixed in https://github.com/ipa320/cob_robots/pull/720 and https://github.com/ipa320/cob_common/pull/233

@ipa-rmb @cagbal could you retest and verify?