Bartosz Meglicki

@GM223 ODR and Kalman update rate are two different things. According to the [EM7180 register map](http://www.emdeveloper.com/downloads/7180/EMSentral_EM7180_Register_Map_v1_3.pdf): - quaternion registers within SENtral will be updated at the GyroRate, regardless of QRateDivisor...

@kriswiner > since the divisor is applied as 1/(1 + qratedivisor) Interestingly you are correct despite that this contradicts documentation in several places: - Write 0x01 to the QRateDivisor Register....

> Not sure if you will get the full 400 Hz this way, if you need even faster rates you could try to increase the gyro rate to 1 kHz....

@tim241, I haven't used bindings, but I used Mono and C# on EV3 with some instructions [here](https://github.com/bmegli/xv11lidar-test/tree/master/examples/csharp/xv11pipe2csv). Maybe it can be of some help. I could even compile with Visual...

@tim241 > but the batteries keep dying I sometimes leave my EV3 powered on for whole day with charger plugged to [EV3-Rechargable-Battery](https://shop.lego.com/en-US/EV3-Rechargeable-DC-Battery-45501). It kind of changes the way you work...

# Code Looking at code at OpenCV contrib/rgbd 4.x ColoredKinfu doesn't seem to have GPU implementation: https://github.com/opencv/opencv_contrib/blob/e72e1715771de730c6229aaa6b848efa0d54def9/modules/rgbd/src/colored_kinfu.cpp#L370 Compare with Kinfu implementation: https://github.com/opencv/opencv_contrib/blob/e72e1715771de730c6229aaa6b848efa0d54def9/modules/rgbd/src/kinfu.cpp#L333 The difference is with Mat/UMat in Kinfu and...

>I would imagine a solution could be implemented with this without too much difficulty. > http://wiki.ros.org/topic_tools/transform > Just republish bounding box message after swapping the headers. Assuming: - bounding boxes...

@KamilDre wrote: > The rectified image looks as if it was "zoomed in" a bit. This makes me wonder if the same intrinsic matrix is valid for both images? Reusing...

@christian-rauch wrote > Previously, because the Azure Kinect is using a factory calibration, I incorrectly assumed that the published images are already calibrated. This is not the case. The raw...

Can we make it better? Yes. From http://wiki.ros.org/image_pipeline/CameraInfo 4.1 > [...] since ROS Electric, the [camera_calibration](http://wiki.ros.org/camera_calibration) package does monocular calibration to get K' using OpenCV's getOptimalNewCameraMatrix() function with argument 'alpha'=0.0...