16-bit depth extractor

[frapit]

Hi,
related to another issue (last comments) in the DOPE repo, I fail to make any of the 16bit depth extractors work.
On the following image (left) the 8-bit map (middle) works fine, whereas the 16-bit map (right) appears to be too flat:

Minimum and Maximum values of the depth map are also strange on the 16-bit image:
min: 10502 max: 13311, so only a depth distance of 30cm and the minimum is too far away.

I got the same results with all three SceneCaptures and with all depth extractors (quantized and absolute) I did a depth_image * MAX_DEPTH / 2^16 conversation to get the real depth values.

Am I misunderstanding something or is the extractor broken?
Working with the current version under linux.
Thanks!

[thangt]

@rapit I fixed the problem with the 16bits depth feature extractors in the latest commits. Can you pull the latest commits and try this again? I also added 2 more absolute feature extractor: 16 bits cm depth and 8 bits cm depth. Using these, you don't need to do the conversion to get the real depth value, you can use the value directly.

[frapit]

Thanks for the fix! Both Quantized_16bit and the new cm_16bit work perfectly fine now.