Azure-kinect-sensor-sdk: Look like bad aligment between IR to color camera projected space.

[barakooda]

Any idea about the source of this behavior ?
Thanks.
https://forum.derivative.ca/t/look-like-bad-aligment-between-depth-to-color-camera-projected-space-b33840/114382

[wes-b]

See https://docs.microsoft.com/en-us/azure/Kinect-dk/use-image-transformation.

This is a byproduct of the occlusion created by the depth camera. This is also one of reasons we suggest working on the color camera's domain rather than the depth camera domain.

[rabbitdaxi]

@barakooda to clarify, the occlusion is naturally causing by the placement of depth camera and color camera. To solve occlusion, per pixel depth information is needed.

• k4a_transformation_depth_image_to_color_camera function handles occlusion. Recommend to use this function.
• k4a_transformation_color_image_to_depth_camera does not because of it require another pass of warping depth to color which cost compute.

[barakooda]

Thanks for the quick replies !