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2011-05-16 19:46:56 -0500 | marked best answer | Kinect raw disparity offset As Felix said, OpenNI internally converts the raw disparity values to metric distances, so when using openni_kinect there's no longer any need to calibrate that conversion. If you're interested in how this was done, the code is in kinect_calibration, starting line 292. Basically, the depth Z is related to a raw disparity reading r by Z = A / (B - r), where A and B are constants we are solving for. In calibration, we:
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2011-04-12 21:44:15 -0500 | asked a question | Kinect raw disparity offset Hello, I'm looking at the kinect calibration ( http://www.ros.org/wiki/kinect_calibr... ). Can anyone tell me why the disparity offset, doff, is around 1090? How is this value obtained? Thanks Roberto |