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libfreenect2 xyz computation chain vs windows sdk v2 xyz computation chain #865

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@timprepscius

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@timprepscius

git log -1 --oneline
6236635 docs: Fix a typo

So I've been studying the XYZ computation chain of windows and libfreenect2.
Also the depth values generated by this chain.

windows depth:

windows-again-clipped

libfreenect depth using opencl (not clkde) NOT undistorted

mac-depth-again

libfreenect after undistortion:

mac-depth-undistort

The depth value for the center pixel.
ms -0.002749, -0.012855, 0.645
lf2 using ms table -0.00283028,-0.0132361,0.664106 (distorted)
lf2 -0.0815203,0.0937013,0.661913 (undistorted....)

So my question is:

Does anyone know how they are computing the DepthToCameraSpaceTable?

They say they are including the distortion in the table it self.
Has anyone had any experience with creating this table?

I understand that the distortion is going to come from the distortion formulas.
https://en.wikipedia.org/wiki/Distortion_(optics)

As I understand it, libfreenect2 first undistorts the image. And then multiplies this undistorted image by a table value (X,Y) to get the XYZ.
As I understand it, MS includes the distortion in the table, and multiples the undistorted depth value by the table XY to get the XYZ.

I'm wondering if anyone can give me any clues to replicating this table.

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