{"action":"created","issue":{"url":"https://api.github.com/repos/Myzhar/ros_depthsense_camera/issues/9","labels_url":"https://api.github.com/repos/Myzhar/ros_depthsense_camera/issues/9/labels{/name}","comments_url":"https://api.github.com/repos/Myzhar/ros_depthsense_camera/issues/9/comments","events_url":"https://api.github.com/repos/Myzhar/ros_depthsense_camera/issues/9/events","html_url":"https://github.com/Myzhar/ros_depthsense_camera/issues/9","id":74115684,"number":9,"title":"Depth image not correct using RAW data","user":{"login":"Myzhar","id":3648617,"avatar_url":"https://avatars.githubusercontent.com/u/3648617?v=3","gravatar_id":"","url":"https://api.github.com/users/Myzhar","html_url":"https://github.com/Myzhar","followers_url":"https://api.github.com/users/Myzhar/followers","following_url":"https://api.github.com/users/Myzhar/following{/other_user}","gists_url":"https://api.github.com/users/Myzhar/gists{/gist_id}","starred_url":"https://api.github.com/users/Myzhar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Myzhar/subscriptions","organizations_url":"https://api.github.com/users/Myzhar/orgs","repos_url":"https://api.github.com/users/Myzhar/repos","events_url":"https://api.github.com/users/Myzhar/events{/privacy}","received_events_url":"https://api.github.com/users/Myzhar/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-05-07T20:25:15Z","updated_at":"2015-05-08T07:31:10Z","closed_at":null,"body":"While Confidence map is good, Depth Image is \"strange\" using RAW data, but it is good using \"compressedDepth\" as Transport Hint.\r\n\r\n@pixel217 can you verify if it is the same for you?\r\n\r\nWrong:\r\n![screenshot from 2015-05-07 22 20 33](https://cloud.githubusercontent.com/assets/3648617/7525273/4c3bcc40-f508-11e4-9591-8d547acf0fa1.png)\r\n\r\nCorrect:\r\n![screenshot from 2015-05-07 22 21 25](https://cloud.githubusercontent.com/assets/3648617/7525283/59089958-f508-11e4-9514-afb91ab50136.png)\r\n"},"comment":{"url":"https://api.github.com/repos/Myzhar/ros_depthsense_camera/issues/comments/100132938","html_url":"https://github.com/Myzhar/ros_depthsense_camera/issues/9#issuecomment-100132938","issue_url":"https://api.github.com/repos/Myzhar/ros_depthsense_camera/issues/9","id":100132938,"user":{"login":"pixel217","id":12232218,"avatar_url":"https://avatars.githubusercontent.com/u/12232218?v=3","gravatar_id":"","url":"https://api.github.com/users/pixel217","html_url":"https://github.com/pixel217","followers_url":"https://api.github.com/users/pixel217/followers","following_url":"https://api.github.com/users/pixel217/following{/other_user}","gists_url":"https://api.github.com/users/pixel217/gists{/gist_id}","starred_url":"https://api.github.com/users/pixel217/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pixel217/subscriptions","organizations_url":"https://api.github.com/users/pixel217/orgs","repos_url":"https://api.github.com/users/pixel217/repos","events_url":"https://api.github.com/users/pixel217/events{/privacy}","received_events_url":"https://api.github.com/users/pixel217/received_events","type":"User","site_admin":false},"created_at":"2015-05-08T07:31:10Z","updated_at":"2015-05-08T07:31:10Z","body":"It is supposed to be raw but here are some informations : the autoranger of rviz has some trouble because the depth information of DSSDK are signed 16 bit ints and the error values (saturated, unknown depth,...) are -32768,-32767,... and I believe rviz interprets the images as unsigned which gives 32768,32769,...\r\nif you remove the normalized range and set 0-2000 (0mm to 2000mm) you should have proper info, data further than 2m is likely to be very noisy with the standard modes that are available on the 325.\r\n\r\n![screenshot from 2015-05-08 09 18 09](https://cloud.githubusercontent.com/assets/12232218/7532238/e910dea0-f564-11e4-91ff-e79557f2b8c7.png)\r\n\r\n\r\nFunnily, on my machine, the compressedDepth gives me errors : [ERROR] [1431070145.407753201]: Error loading image: OGRE EXCEPTION(2:InvalidParametersException): Stream size does not match calculated image size in Image::loadRawData at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreImage.cpp (line 283)\r\n"}}