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Now you can work with the Kinect v2 thanks to the nodelet from Thiemo Wiedemeyer. The kinect v2 is by far better that the kinect v1. Better depth map pixel resolution, an infrared output that allows night vision, and better robustness against sunlight (not perfect, but if the objects of the scene reflect good the near infrared, you can obtain depth information even under sunlight). The tricky part of the Kinect v2 is to handle the high amount of output data (therefore USB 3.0); we have recorded bags at a rate of 2 GB of data per minute, and sometimes we had problems obtaining the depth data.

Now you can work with the Kinect v2 thanks to the nodelet from Thiemo Wiedemeyer. The kinect v2 is by far better that the kinect v1. Better depth map pixel resolution, an infrared output that allows night vision, and better robustness against sunlight (not perfect, but if the objects of the scene reflect good the near infrared, you can obtain depth information even under sunlight). The tricky part of the Kinect v2 is to handle the high amount of output data (therefore USB 3.0); we have recorded bags at a rate of 2 GB of data per minute, and sometimes we had problems obtaining the depth data.data. It is definitely worth changing to the kinect v2.