Does freenect_stack package process the original depth image(disparity) from libfreenect?

asked 2018-08-20 08:50:11 -0600

cgdsss gravatar image

The raw data obtained from libfreenect using Kinect depth sensor is actually a 11-bit number between 0-2047, called disparity (with unit in kdu--kinect disparity unit), while other libraries like OpenNI provides converted depth data. However, I found that the data in /camera/depth/image_raw is converted real depth(mm) and >2047.But I could not find where the raw data was converted in freenect_camera package. What's going on? Please help me. thank you

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