OpenKinect/libfreenect — Issue #251: freenect_camera_to_world is off by a factor of two
Author: kylemcdonald
Created: 2011-10-29 01:36:10+00:00
State: open

i mentioned this on the mailing list. this line:

double factor = ref_pix_size * wz / ref_distance;

should be:

double factor = 2 * ref_pix_size * wz / ref_distance;

otherwise all the results of freenect_camera_to_world are wrong.

i could do a pull request for this, but i have a bad experience waiting for single line changes to be merged... ;)