The kinect2/sd/points topic generates a planar group of points immediately in front of the kinect tf frame. All points not projected to a real location in the cloud are instead placed in this group, causing a dense group to appear. This is not visible in the QHD or HD topics, just SD. The following images should give a better idea of the issue.
I've gotten around this by filtering out points that are within the kinect's minimum operating distance, but by default this false object is very disruptive.
The kinect2/sd/points topic generates a planar group of points immediately in front of the kinect tf frame. All points not projected to a real location in the cloud are instead placed in this group, causing a dense group to appear. This is not visible in the QHD or HD topics, just SD. The following images should give a better idea of the issue.
I've gotten around this by filtering out points that are within the kinect's minimum operating distance, but by default this false object is very disruptive.