Kinect 2 point cloud is distorted

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Kinect 2 point cloud is distorted

wyc6827
I have the similar problem like this one:


I took the point cloud of the following scene and view the cloud from top: 




The pcl of the pan is distorted. Thus in order to change the texture, I put some towel over it, and got the corresponding pcl: 





The second pcl seems good after changing the texture. But the pcl of the same pan taken by Kinect 1 is good, and Kinect 1 seems not so sensitive to texture.

Is there any solution to such distortion for Kinect 2? or Kinect 2 itself is not suitable for observing such objects that have a cavity, no matter how I calibrate it? 


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Re: Kinect 2 point cloud is distorted

Pooky
Very interesting. This must be to do with the texture of the pan reflecting
the IR light which is projected from the Kinect. Generally distortions are
due to 1 of 2 things:

a) IR interference (i.e. sun light or another IR light source such as
different Kinects)
b) Reflectivity

I'm assuming its the second issue, as metal often causes that, but you can
confirm this using the Kinect 2 SDK on Windows - there is an app to view the
IR camera.

I'm surprised the this works with Kinect 1 and not 2 though. It must be to
do with the fact that they work slightly differently. Kinect 1 projects a IR
grid and calculates depth based on how that grid distorts (structured
light). Kinect 2 uses time of flight (also, you can use multiple Kinect 2s
at the same time as they use different IR frequencies)

However, having said that, I can't give you a logical explanation...







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Re: Kinect 2 point cloud is distorted

wyc6827
Thanks for your suggestion, and the following point cloud from windows seems
same as that from ROS.

<http://www.pcl-users.org/file/t499020/Untitled.png>
<http://www.pcl-users.org/file/t499020/Untitled2.png>



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