{"action":"created","issue":{"url":"https://api.github.com/repos/cwru-robotics/baxter-model-scan/issues/2","repository_url":"https://api.github.com/repos/cwru-robotics/baxter-model-scan","labels_url":"https://api.github.com/repos/cwru-robotics/baxter-model-scan/issues/2/labels{/name}","comments_url":"https://api.github.com/repos/cwru-robotics/baxter-model-scan/issues/2/comments","events_url":"https://api.github.com/repos/cwru-robotics/baxter-model-scan/issues/2/events","html_url":"https://github.com/cwru-robotics/baxter-model-scan/issues/2","id":107963031,"number":2,"title":"Kinect2 Calibration","user":{"login":"mwswartwout","id":1334791,"avatar_url":"https://avatars.githubusercontent.com/u/1334791?v=3","gravatar_id":"","url":"https://api.github.com/users/mwswartwout","html_url":"https://github.com/mwswartwout","followers_url":"https://api.github.com/users/mwswartwout/followers","following_url":"https://api.github.com/users/mwswartwout/following{/other_user}","gists_url":"https://api.github.com/users/mwswartwout/gists{/gist_id}","starred_url":"https://api.github.com/users/mwswartwout/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mwswartwout/subscriptions","organizations_url":"https://api.github.com/users/mwswartwout/orgs","repos_url":"https://api.github.com/users/mwswartwout/repos","events_url":"https://api.github.com/users/mwswartwout/events{/privacy}","received_events_url":"https://api.github.com/users/mwswartwout/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":{"login":"mwswartwout","id":1334791,"avatar_url":"https://avatars.githubusercontent.com/u/1334791?v=3","gravatar_id":"","url":"https://api.github.com/users/mwswartwout","html_url":"https://github.com/mwswartwout","followers_url":"https://api.github.com/users/mwswartwout/followers","following_url":"https://api.github.com/users/mwswartwout/following{/other_user}","gists_url":"https://api.github.com/users/mwswartwout/gists{/gist_id}","starred_url":"https://api.github.com/users/mwswartwout/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mwswartwout/subscriptions","organizations_url":"https://api.github.com/users/mwswartwout/orgs","repos_url":"https://api.github.com/users/mwswartwout/repos","events_url":"https://api.github.com/users/mwswartwout/events{/privacy}","received_events_url":"https://api.github.com/users/mwswartwout/received_events","type":"User","site_admin":false},"milestone":null,"comments":11,"created_at":"2015-09-23T17:00:40Z","updated_at":"2016-04-21T03:46:22Z","closed_at":"2016-04-20T15:20:14Z","body":"Have taken two groups of calibration images.\r\n\r\n### 1st image set\r\nAppears to not have good depth data for calibration. Occasionally will segfault when calibrating with this data set, appears similar to this issue: https://github.com/code-iai/iai_kinect2/issues/66. Initially was able to use the kinect2_viewer with these files, but now depth registration returns some enqueueError. Not planning on investigating this further.\r\n\r\n### 2nd image set\r\nMuch better. Calibration works for objects that in the background, but is bad for objects in the foreground.\r\n\r\n### Both image sets combined\r\nVery bad calibration data.\r\n\r\n### To Do:\r\n- [x] Throw out first data set\r\n- [x] Take further calibration images where object rotates on axis perpendicular to camera surface (requires remounting calibration image to tripod)\r\n- [x] Take more images with calibration pattern closer to Kinect2\r\n- [x] Test the two datasets independently and then combine to see if results improve\r\n- [x] Research to find example point cloud images for Kinect2 to get point of comparison for what our data should look like\r\n\r\n### 2nd Dataset Calibration Image\r\n![calibratedwith2nddata](https://cloud.githubusercontent.com/assets/1334791/10052097/0eefbac4-61f3-11e5-9368-3359dc545b60.png)\r\n\r\n### Both Datasets Calibration Image\r\n![calibratedwithbothdatasets](https://cloud.githubusercontent.com/assets/1334791/10052098/0ef2406e-61f3-11e5-9b0d-543092f6e0a8.png)\r\n\r\n### Uncalibrated Image\r\n![uncalibrated](https://cloud.githubusercontent.com/assets/1334791/10052096/0eed09be-61f3-11e5-8148-84b6f99f0aa3.png)"},"comment":{"url":"https://api.github.com/repos/cwru-robotics/baxter-model-scan/issues/comments/212725130","html_url":"https://github.com/cwru-robotics/baxter-model-scan/issues/2#issuecomment-212725130","issue_url":"https://api.github.com/repos/cwru-robotics/baxter-model-scan/issues/2","id":212725130,"user":{"login":"lucbettaieb","id":1468145,"avatar_url":"https://avatars.githubusercontent.com/u/1468145?v=3","gravatar_id":"","url":"https://api.github.com/users/lucbettaieb","html_url":"https://github.com/lucbettaieb","followers_url":"https://api.github.com/users/lucbettaieb/followers","following_url":"https://api.github.com/users/lucbettaieb/following{/other_user}","gists_url":"https://api.github.com/users/lucbettaieb/gists{/gist_id}","starred_url":"https://api.github.com/users/lucbettaieb/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lucbettaieb/subscriptions","organizations_url":"https://api.github.com/users/lucbettaieb/orgs","repos_url":"https://api.github.com/users/lucbettaieb/repos","events_url":"https://api.github.com/users/lucbettaieb/events{/privacy}","received_events_url":"https://api.github.com/users/lucbettaieb/received_events","type":"User","site_admin":false},"created_at":"2016-04-21T03:46:22Z","updated_at":"2016-04-21T03:46:22Z","body":"Does it work???"}}