Usage of iai registration functions

[remmel]

Hi,

Do you plan to use the registration function used in https://github.com/code-iai/iai_kinect2 ? (instead of the one provided in freenect2) It seems that you tried https://github.com/code-iai/iai_kinect2/issues/21#issuecomment-64414418 maybe this is is another repository?

In others words, did you managed to use iai_kinect2 calibration in your code? as libfreenect2 extrinsics seems to not be compatible (shift_d: 863, shift_m: 52) whereas iai provided extrinsics depthShift(-21.5) and rotation/translation pose

Thanks!

[giacomodabisias]

Hi @remmel ! I developed this project several years ago (~6 years) and haven't touched it since then. The registration with libfreenect2 was working fine in the end and the extrinsics between depth and color looked good. As far as I remember see here is an example (https://github.com/giacomodabisias/libfreenect2pclgrabber/blob/473469fecca8b4112c87c7462b8d7a26b8564fdd/include/k2g.h#L207)

[remmel]

Hi @giacomodabisias , Thanks for your reply My point was to find an example directly using the intrinsics provided by iai_kinect2 with its registration. You tried (https://github.com/code-iai/iai_kinect2/issues/21#issuecomment-64414418) but as you indicated it you repository is using the libfreenect2 custom intrinsics and registration. Thanks anyway!