dump_rgbd with Kinect: I became a smurf and disparity images have a strange resolution

[raphaelfavier]

This is considering a ScaViSLAM install with PCL support and no CUDA support:

running ./dump_rgbd produces strange RGBD pictures:

you can find some at: http://inky.ws/g/uv

• From my new skin tone, It seems the red channel is missing.
• The disparity pictures are saved with a resolution of 2560*480 pixels. Isn't that a bit too much?
• If the kinect is moving a lot, pictures appear "broken" (see the last pair of pictures), but I guess this is a limit of the sensor itself

[strasdat]

• There are two conventions to store RGB images. RGB and GBR.
  Here, Kinect provides GBR but RGB is displayed, thus red and blue color channels are switched.
  This is a bit annoying and needs to be fixed. But it is only a visualization issue, since the software does only rely on greyscale.
• OpenCV does not support floating point images. My favorite hack is to reinterpret one float as four uint8.
  Thus, the width of the image is multiplied by four. (This "only" works on architectures where sizeof(float)==4. There is a corresponding assert.)
• Not sure I understand...

[raphaelfavier]

The last point is that some pictures taken with a fast-moving/shaking Kinect are missing some parts.

In the case of http://static.inky.ws/image/1046/image.jpg , I am missing my nose :)

But I guess this is a limitation of the sensor.

[strasdat]

Oh, that looks bad! Seems like that two different frames are overlayed.

Update: I think the issue is that I only copy the reference of the image. I fear a "clone" is necessary here to avoid this issue.
I'll try to fix it in the next couple of days!