title: FREENECT_DEPTH_REGISTERED has no effect with libfreenect
body: <p>I'm playing around with a Kinect (the original Xbox version) on the libfreenect driver (I'm on Ubuntu 12.04 by the way). I have cloned the most recent version from git and installed it manually, as per the instructions here: <a href="http://openkinect.org/wiki/Getting_Started#Ubuntu_Manual_Install" rel="noreferrer">http://openkinect.org/wiki/Getting_Started#Ubuntu_Manual_Install</a></p>
  
  <p>I would like to access the registered depth values. As far as I understand, the Kinect is factory calibrated, and there is a lookup-table matching depth pixels to the proper RGB pixels.</p>
  
  <p>I can open the Kinect just fine and retrieve the raw 11 bit depth data. That gives me values ranging non-linearly from around 730 to 1045 for distances from 1 to 7.5 meter.</p>
  
  <p>Running <code>device-&gt;setDepthFormat(FREENECT_DEPTH_MM);</code> makes the Kinect output distances in mm, so setDepthFormat seems to work.</p>
  
  <p>Running <code>device-&gt;setDepthFormat(FREENECT_DEPTH_REGISTERED);</code> seems to have no effect, as only the raw depth values are output. What am I missing?</p>