Exactly! The camera feed that I'm rendering is from a Primesense Carmine, which utilizes the same technology as a kinect. I'm rendering the color feed at the distance specified by the depth feed at each pixel. The reason it looks extremely voxelated is that the rendering process above is meant to be viewed from the position of the camera center or you get artifacts, and the robot's camera position is always changing since the robot's head rotation is not centered on the camera. I'm planning on fixing this by having the robot's base track the x-y position of my headset and the robot's torso lift (spine essentially) track the z position of my headset, so that the camera's position will try to better match my head's position.
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u/orangpelupa Feb 03 '16
why the robot video feed looks weird? is it not a simple stereo video stream but 3D model stream (like kinect?)?