{"action":"created","issue":{"url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/110","labels_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/110/labels{/name}","comments_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/110/comments","events_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/110/events","html_url":"https://github.com/code-iai/iai_kinect2/issues/110","id":86665814,"number":110,"title":"Transform between Camera space and \"Pointcloud space\"","user":{"login":"svope","id":10095550,"avatar_url":"https://avatars.githubusercontent.com/u/10095550?v=3","gravatar_id":"","url":"https://api.github.com/users/svope","html_url":"https://github.com/svope","followers_url":"https://api.github.com/users/svope/followers","following_url":"https://api.github.com/users/svope/following{/other_user}","gists_url":"https://api.github.com/users/svope/gists{/gist_id}","starred_url":"https://api.github.com/users/svope/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/svope/subscriptions","organizations_url":"https://api.github.com/users/svope/orgs","repos_url":"https://api.github.com/users/svope/repos","events_url":"https://api.github.com/users/svope/events{/privacy}","received_events_url":"https://api.github.com/users/svope/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-06-09T16:58:33Z","updated_at":"2015-06-11T11:42:36Z","closed_at":null,"body":"Hi guys,\r\n\r\nwhat is the transformation between Camera space ( x and y from RGB and z from depth map) and Pointcloud( topic /kinect2/qhd/points )?\r\nFrom what I see in viewer.cpp the transformation from Camera space to PoinCloud is:\r\n\r\n1) computing \"lookup table\" in void createLookup(size_t width, size_t height)\r\n2) in function void createCloud(...) these equations:\r\n                                               ....code...\r\n                                               itP->z = depthValue;\r\n                                               itP->x = *itX * depthValue;\r\n                                               itP->y = y * depthValue;\r\n                                               ....etc..\r\n\r\nI tried to \"undo\"(reverse) these equations but with no success (I got some weird number intervals exceeding Camera resolution 960x540). Did I solved these \"reversed\" eq. badly or I'm just doing something totally wrong.\r\n\r\nThank you!\r\n"},"comment":{"url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/comments/111097094","html_url":"https://github.com/code-iai/iai_kinect2/issues/110#issuecomment-111097094","issue_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/110","id":111097094,"user":{"login":"wiedemeyer","id":4972318,"avatar_url":"https://avatars.githubusercontent.com/u/4972318?v=3","gravatar_id":"","url":"https://api.github.com/users/wiedemeyer","html_url":"https://github.com/wiedemeyer","followers_url":"https://api.github.com/users/wiedemeyer/followers","following_url":"https://api.github.com/users/wiedemeyer/following{/other_user}","gists_url":"https://api.github.com/users/wiedemeyer/gists{/gist_id}","starred_url":"https://api.github.com/users/wiedemeyer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wiedemeyer/subscriptions","organizations_url":"https://api.github.com/users/wiedemeyer/orgs","repos_url":"https://api.github.com/users/wiedemeyer/repos","events_url":"https://api.github.com/users/wiedemeyer/events{/privacy}","received_events_url":"https://api.github.com/users/wiedemeyer/received_events","type":"User","site_admin":false},"created_at":"2015-06-11T11:42:36Z","updated_at":"2015-06-11T11:42:36Z","body":"Yes, it should be like that, if I am not mistaken."}}