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In general you can't expect to have perfect synchronization between RGB and depth for the Kinect. From the openni_camera wiki page:


Other than the Primesense devices, the Kinect does not support hardware synchronization. Thus the time points where the RGB image and the depth image are captured may be up to ~16ms away from each other. For all devices we use a Approximatetimesynchronizer to generate the point clouds /camera/rgb/points. For Primesense devices the hardware synchronization is turned on automatically if both streams are used (subscribing to image + depth).

Note that /camera/depth/image and /camera/depth/points both contain essentially the same information--the former is the depth of each point and the latter is the point cloud derived from that depth data. Subscribing to both of them simultaneously is probably overkill.