Distance issues with Kinect and R Pi 4

[piran-prog]

Along with the other issues I'm having I've been trying the regview and I'm getting things like this:

The foreground is lighter and then shades to dark blue over about 2 meteres and then just shows the RGB image but then further away starts showing distance colours again

[piedar]

I think this is a limitation of the depth shading algorithm in freenect-regview but I'm not sure how to fix it. Ideally there should be a smooth color range from near to far. As far as I can tell, the actual depth values are correct.

[piran-prog]

Yes looks like an issue with regview, some of the other test apps seem to get it right. I managed (with a lot of effort) to get it working in ROS and that works but I'm trying to get it working with ORBSLAM3 and it's getting some of the depth wrong there:

where the upper cloud of points is all on a single plane but should actually be at the front with the other points.