Depthcloud and Pointcloud2 not consistent in Rviz

[petpetpeter]

I'm trying to convert depth image from depth_to_rgb/image_raw topic into pointcloud2 but when I compared it with the PointCloud data in /points2 topic it was a little bit off. I try checking this problem in RVIZ

The RGB pointcloud is from /points2 topic, the red pointcloud is from /depth_to_rgb/image_raw Is this normal or some problem? Which one is the more accurate position from the rgb_camera_link?

[christian-rauch]

/points2 is publishing the internally rectified, registered and back-projected data. /depth_to_rgb/image_raw publishes the unrectified image. You have to rectify the image, e.g. via kinect_rgbd.launch.

[petpetpeter]

Thanks, I launched the camera with driver.launch, that could be the reason.

[jiejie567]

@petpetpeter Hi, I think /points2 and /depth_to_rgb/image_raw correspond different coordinate system, which is the result there are some drifts.