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Rviz seems to interpret the 16 (or 14?) bit depth as 8 bit gray value. Therefore you have an "overflow" at each 256 depth-steps, causing the value to cycle between black and white several times. I wonder why it's not getting really white, but that could either be the alpha of 0.5 in rviz or a confusion between signed and unsigned char.
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Rviz seems to interpret the 16 (or 14?) bit depth as 8 bit gray value. Therefore you have an "overflow" at each 256 depth-steps, causing the value to cycle between black and white several times. I wonder why it's not getting really white, but that could either be the alpha of 0.5 in rviz or a confusion between signed and unsigned char.
Does the pointcloud look normal?
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