Deprecated Kinect driver superior to the new one
Hey everyone
I have been working for a project for a couple of months now which includes cup detection using the Kinect camera. After the release of Fuerte I upgraded my machines accordingly, but apparently I forgot the machine running my Kinect camera.
I have now upgraded my machine but I noticed strange deviations in my results. I made some quick comparison and it looks like the deprecated driver provides alot better result than the new one introduced in Fuerte.
The first image is taken with the deprecated driver and the second with the new one. While the scaling is a bit different, it is purely due to zoom. The position of the camera is fixed and the cups have not been moved.
When I execute my algorithm to extract the cups I get the following results:
As it is clearly seen, it seems there some failure in the new driver when comes to registering the rgb image with the pointcloud. It looks like there is a shift in the image. I have not dived into the problem and I might have missed something totally obvious, but for now I leave my post as it is until someone can enlighten me on this strange phenomena or I figure out why. Atleast I find the problem quite relevant.
Regards
Sebastian Aslund
