All,

The problem here is: the depth image is not a depth image, it's a disparity image. Looks like Patrick is working on 
adding a disparity viewer: http://www.ros.org/wiki/disparity_view

For a faster PointCloud visualizer, try the openni_pcl visualizer: http://www.ros.org/wiki/openni_pcl (wiki page to 
follow in a few minutes :) ).


Cheers,
Radu.
--
http://pointclouds.org

On 12/15/2010 07:03 AM, Patrick Goebel wrote:
> I had this same issue so I am glad I found this thread.  Based on what
> Suat said, I am viewing the PointCloud in RViz on the
> /camera/depth/points2 topic with Style set to Points and Color
> Transformer set to RGB8 .  While I see the point cloud fine, the refresh
> rate is quite slow--roughly 5 fps.  The camera image and point cloud
> topics are refreshing at 30Hz according to rostopic hz.  If I set the
> Style to Billboard Spheres, the frame rate plummets to about 0.5 fps
> even with the Color Transformer set to Flat Color.  (My machine's load
> meter also rises to about 3.8.)
>
> Could this be a graphics driver issue?  I am running Ubuntu 10.04 on a
> Fujitsu T730 tablet which has an Intel Core i5 running at 2.5GHz with
> 4Gb RAM and I am not running any custom graphics drivers.  My ROS
> installation is the latest C Turtle using debian packages.  I get the
> same results whether I run the Kinect or OpenNI drivers.
>
> A related question: is it possible to get a grayscale or false-color
> depth image like the one in the NITE demo or the one shown here?
>
> http://www.youtube.com/watch?v=jQgnuupBUI4
>
> Thanks!
> Patrick Goebel
> Behavioral Sciences
> Stanford University
>
>
>
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