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I have built opencv with OpenNI support to grab (rgb and depth) images directly from the kinect. I am using the Kinect for windows version with the near mode feature.

I use the PrimeSense driver for the kinect.

Unfortunately, the depth images shows some errors: Some objects are duplicated in the depth image. The rgb image is fine.

I suspect that it may have to do with the near mode feature not being enabled. Is there a way to do this using opencv?

I use the following code to grab and display both the rgb and the depth image:

while(1)
{
    Mat depthImage;
    Mat bgrImage;

    capture.grab();
    capture.retrieve(depthImage, CV_CAP_OPENNI_DEPTH_MAP );
    capture.retrieve(bgrImage, CV_CAP_OPENNI_BGR_IMAGE );

    namedWindow("depth", 1);
    namedWindow("bgr", 1);

    imshow("depth", depthImage);
    imshow("bgr", bgrImage);

    if (waitKey(30) >= 0) break;
}

Any hints are greatly appreciated :)