Integrate kinect data

[Raffa87]

On the description of package at http://wiki.ros.org/ar_track_alvar it is declared:

"Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates."

How can I integrate my kinect data in the process?
Thank you

[rethink-rlinsalata]

The default launch files and executables integrate the Kinect data automatically. If you use the "* NoKinect" variants, then it will not use the kinect.

There are four executables/launch files: one for Individual Markers, one for Bundles of Markers, and a "No Kinect" version for each of the first two.

[Raffa87]

I'm working on fuerte on a 32bit machine so I followed the instructions explained in: http://wiki.ros.org/ar_track_alvar:

git clone https://github.com/sniekum/ar_track_alvar.git
git checkout f093668

and the launch file that I got, the node subscribe to Image topic rather than PointCloud. Is there the chance to integrate PointCloud data also in fuerte on a 32 bit?
Thanks!

[130s]

This issue was moved to ros-perception#36