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Hi Answers Community, This was a silly question. My z_voxels should not have been 2. That was the equivalent of saying my map should only be 20 cm high, so of course the Kinect was off the map.

I changed z_voxels to 10 (the map is now a meter high) and the error is gone now. Sorry for jumping the gun on the question! Hopefully my mistake can help others.

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