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Hi,

We are currently using the Kinect in a similar application. Lately we experienced similar issues as the ones described here, which seems to be related to latest release of the openni_camera package in fuerte. The openni_camera package combined with depth registration set to true resulted in point clouds with NaN values. Putting depth registration to false makes that RGB and depth are not in the same coordinate frame (see openni documentation). Since the centers of the markers have an offset, I can imagine that depth registration is still disabled (or working incorrectly). Since these markers are the reference to map the pointclouds into a common coordinate frame, this probably results in the weird object model.

One of our students working with the kinect bumped into this issues and found a solution that work (at least at his computer). He has posed his solution on answers.ros.org/question/53706/registered-depth-image-is-black/ by Anto1398. Another option could be to explicitly putting depth registration to true: roslaunch openni_launch openni_launch depth_registration:=true

I hope this info helps to solve your problem.