depth registration has large offset

[iluetkeb]

I'm seeing large (>10px) offsets between depth and rgb information from a Kinect, when running on Ubuntu 14.04. For an example, see this rviz screenshot of a wooden table leg (in bright cyan) lying on a table: On the left, part of the surface is shown at a larger depth than actual, vs. on the right, part of the leg is missing.

This is using openni_camera, with depth_registration set to true (verified also using dynamic reconfigure), with the groovy-devel branch on Ubuntu 14.04, with ROS groovy compiled from source (!). OpenNI and primesense drivers are installed from Jochen Sprickerhof's PPA.

I could replicate this problem across three different machines now. The same machines and software run fine with an Asus Xtion camera.

I've looked into this problem for a while now, and am utterly stumped. Does anybody have a clue on what could be happening here?