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Hi Andrius, welcome to ROS Answers.

I'm not 100% sure of exactly what you are seeing, but I think what you are talking about is just the natural result of occlusion. Think about it: the rays projected by the Kinect spread in a diverging pattern, so if there is an object in the foreground there the stuff that is immediately around it in the 2D image is further away and therefore more spread out. As such, you can't remove it!

Hi Andrius, welcome to ROS Answers.

I'm not 100% sure of exactly what you are seeing, but I think what you are talking about is just the natural result of occlusion. Think about it: the rays projected by the Kinect spread in a diverging pattern, so if there is an object in the foreground there the stuff that is immediately around it in the 2D image is further away and therefore more spread out. As such, you can't remove it!