I see, will try that later.
Any ideas about how to get a good calibration? The best option coming
to my mind would be to find some material that swallows IR and make a
checkerboard pattern out of that that shows up in the depth image as
well as the normal camera image. Haven't found a material reliably
doing that yet though.

2010/11/13 Ivan Dryanovski <ivan.dryanovski@gmail.com>:
> Thanks Stefan
>
> I wrote an rviz patch for the coloring that adds a new color mode (Height map):
>
> https://code.ros.org/trac/ros-pkg/ticket/4278
>
> The patch actually allows coloring by "z" value. We tweaked it for the
> Kinect video to color by "y". You can change which axis you want to
> color by if you edit these lines in the patch:
>
> 473         min_height_current = std::min(min_height_current, pos.y);
> 474         max_height_current = std::max(max_height_current, pos.y);
> 475
> 476         heights.push_back(pos.y);
>
> Change the pos.y to pos.x or pos.z for different effects
>
> Ivan Dryanovski
>
>
> On Sat, Nov 13, 2010 at 11:41 AM, Stefan Kohlbrecher
> <stefan.kohlbrecher@googlemail.com> wrote:
>> Very nice, especially the first basic depth calibration.
>> How do I get the color coding for the point cloud that is visible in
>> the video? I can only select "flat color" in my RVIZ.
>>
>> 2010/11/13 Bill Morris <morris@ee.ccny.cuny.edu>:
>>> On Fri, 2010-11-12 at 19:43 -0800, RobotNV wrote:
>>>> You guys are so fast! I don't see the bag file in the link in 5. Example on the wiki though.
>>>
>>> I'm working on getting it uploaded. Should be up in the next few hours,
>>> my connection is slow here.
>>>
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