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RS2_OPTION_ACCURACY differs from our RGBD definition of accuracy #1877

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claudiofantacci opened this issue Sep 25, 2018 · 0 comments
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RS2_OPTION_ACCURACY differs from our RGBD definition of accuracy #1877

claudiofantacci opened this issue Sep 25, 2018 · 0 comments
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@Nicogene
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Affects: YARP v3.1.0 This is a known issue affecting YARP v3.1.0 Component: Devices Fixed in: YARP v3.1.1 Resolution: Fixed

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@claudiofantacci
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The RS2 parameter RS2_OPTION_ACCURACY should not be assigned to depth accuracy.

yarp/src/devices/realsense2/realsense2Driver.cpp

Line 806 in 2d160a4

return setOption(RS2_OPTION_ACCURACY, m_depth_sensor, accuracy);;

RS2_OPTION_ACCURACY is the number (integer) of point projected by the realsense to reconstruct depth. Our RGBD "accuracy" refers to the resolution of the depth data.

Unless RS2 API provides a resolution type of information, we have to rethink this parameter.
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@Nicogene Nicogene

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Affects: YARP v3.1.0 This is a known issue affecting YARP v3.1.0 Component: Devices Fixed in: YARP v3.1.1 Resolution: Fixed
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@claudiofantacci @Nicogene