{"action":"opened","issue":{"url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/596","repository_url":"https://api.github.com/repos/OpenKinect/libfreenect2","labels_url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/596/labels{/name}","comments_url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/596/comments","events_url":"https://api.github.com/repos/OpenKinect/libfreenect2/issues/596/events","html_url":"https://github.com/OpenKinect/libfreenect2/issues/596","id":136988357,"number":596,"title":"libfreenect2 calibration very inaccurate ","user":{"login":"ahundt","id":55744,"avatar_url":"https://avatars.githubusercontent.com/u/55744?v=3","gravatar_id":"","url":"https://api.github.com/users/ahundt","html_url":"https://github.com/ahundt","followers_url":"https://api.github.com/users/ahundt/followers","following_url":"https://api.github.com/users/ahundt/following{/other_user}","gists_url":"https://api.github.com/users/ahundt/gists{/gist_id}","starred_url":"https://api.github.com/users/ahundt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ahundt/subscriptions","organizations_url":"https://api.github.com/users/ahundt/orgs","repos_url":"https://api.github.com/users/ahundt/repos","events_url":"https://api.github.com/users/ahundt/events{/privacy}","received_events_url":"https://api.github.com/users/ahundt/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2016-02-28T01:03:07Z","updated_at":"2016-02-28T01:03:07Z","closed_at":null,"body":"Overview Description:\r\n\r\nI've come to believe that there is likely something very inaccurate about the current calibration routines in libfreenect2 in the released 0.1. When I look at data the color mapping onto a point cloud is way off. When I stand 1.5-2m from the camera with a wall at ~5m, sometimes \"inches\" of wall color will be placed on 3d cloud points that measure the distance to my arm when I stand in front of it using Protonect. This is easier to visualize when using the [libfreenect2pclgrabber](https://github.com/giacomodabisias/libfreenect2pclgrabber) application. \r\n\r\nAfter [iai_kinect2](https://github.com/code-iai/iai_kinect2) calibration this is essentially entirely eliminated. Furthermore, when I run Microsoft's 3D builder application they also do not have these same calibration problems using just the hardware so I think there may be something mistaken about the equations as reverse engineered in some of the large calibration issues created for this project.\r\n\r\nIt may be wise to have another look at those algorithms to see if they can be fixed, or integrate another calibration process directly into libfreenect2.\r\n\r\n<!-- Check https://github.com/OpenKinect/libfreenect2/wiki/Troubleshooting if you haven't done so. -->\r\n\r\nVersion, Platform, and Hardware Bug Found:\r\n\r\n0.1 release\r\nOS X 10.11 and linux 14.04\r\n\r\nSteps to Reproduce:\r\n\r\n1. run protonect or libfreenect2pclgrabber\r\n2. Place large object at 1.5-2m from kinect, with different colored wall at 3-5m\r\n3. \r\n\r\nActual Results:\r\n\r\nObserve wall color on object point cloud points, object color on wall point cloud points.\r\n\r\nExpected Results:\r\n\r\nColor applied to appropriate cloud points.\r\n\r\nReproducibility:\r\n\r\n100% with multiple kinectv2 test devices and test operating systems. \r\n\r\nAdditional Information:\r\n"}}