Hi,

I'm trying to calibrate an ASUS Xtion PRO LIVE following the instructions here:

http://wiki.ros.org/openni_launch/Tutorials/IntrinsicCalibration?action=show&redirect=openni_camera%2Fcalibration

After running

rosrun camera_calibration cameracalibrator.py image:=/openni/rgb/image_mono camera:=/openni/rgb --size 5x4 --square 0.0245 --no-service-check

and

rosrun camera_calibration cameracalibrator.py image:=/openni/ir/image_raw camera:=/openni/ir --size 5x4 --square 0.0245 --no-service-check

I was able to get the edges of the checkerboard to appear straight in rviz when I look at the openni/rgb/imagerect topic, and somewhat straight when I look at the opennni/ir/imagerect topic.

However, for the point cloud data coming from the openni/depth_registered/points topic, flat surfaces still appear as curved parabolic surfaces.

How do I calibrate the camera so that flat surfaces will appear flat in the point cloud data?

Thanks.