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Apparently the newest version of OpenNI has a bug where, in ROS:

1. Point clouds are available in /camera/depth_registered/points even if the depth_registration flag is off.

2. Turning on the depth_registration flag leads to black depth images and invalid point clouds, where both are filled with NaN values.

That may be a bug in the latest version of OpenNI or an incompatibility between the latest version and ROS. I haven't seen any reports of people having this problem outside of ROS, but that may be just because I haven't looked enough.

Apparently the newest version of OpenNI has a bug where, in ROS:

1. Point clouds are available in /camera/depth_registered/points even if the depth_registration flag is off.

2. Turning on When the depth_registration flag leads to black is off, the clouds do not seem depth images registered.

3. When the depth_registration flag is on, the point clouds and invalid point clouds, where both the corresponding depth image are filled with NaN values.

That may be a bug in the latest version of OpenNI or an incompatibility between the latest version and ROS. I haven't seen any reports of people having this problem outside of ROS, but that may be just because I haven't looked enough.