StaticFusion with Kinect2

[MikeCWK]

I am trying to run static fusion with the kinect2. When I run the code I get the terminal output "The RGB and the depth frames don't have the same size" and "Eigensolver couldn't find a solution. Pose is not updated" due to the difference in depth frame and rbg frame sizes on Kinect2. Any idea how I can edit the code to fix this?

[raluca-scona]

Hi Mike, the code assumes that there exists a corresponding depth pixel for each color pixel. It would be really difficult to change this and not worth it in my opinion.

I think the easiest thing for you to do is to resize your images such that they are of the same size, 640x480. I did not work with the Kinect2 but it might be worth checking if the driver allows publishing images of the same resolution. Alternatively you can do this using the resizing functions in OpenCV.