Depth only Sensors - No point cloud

[TarekTaha]

I am trying to use the openni_camera with depth only sensors "Xtion Pro" and "Occipital Structure Sensor", but both fail to generate point clouds /camea/depth/points. I tried to trace down the problem, but so far no success, I am more than happy to fork the repository and modify the code accordingly, but I need some pointers to isolate the problem. Any hits ?

[TarekTaha]

BTW, i can get the IR images and the depth images. At launch it complains about the unknown format RBG888, but continue loading correctly.

[TarekTaha]

I tried to follow the .launch files and trace down the issue. I traced the problem down to the depth.launch.xml , the section that calls the depth_image_proc/point_cloud_xyz nodelet doesn't get any image_rect_raw because this rectified version of the raw images is not being generated by image_proc/rectify. I tried to use the image_raw instead of image_rect_raw to generate the pointcloud and it does generate the pointcloud, but I can't display it using rviz (rostoptic echo /camera/depth/points shows some numbers).

I have a feeling it's an issue of properly adjusting the launch files, but can't find how so far. All I know is that I can get the /camera/depth/image and /camera/depth/image_raw. Any bright ideas ?