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Hi Kang,

I cannot tell you what the buffer does, but I can offer a workaround - you can just record the 2D images, and let the driver assemble the pointclouds afterwards. It cuts down on the diskspace, and makes recording much more consistent.

I had a thread about it before, and provided some launch files. The launch files were written back when the driver was called openni_camera_unstable, so if you're running electric, you will have to modify them to point to openni_launch instead.

Hope this helps.