Hi,

I tried the example with your sofa normal dataset. I got the following error. I run it with the docker container.

roslaunch k4a_projector run.launch
... logging to /root/.ros/log/03b7af24-630a-11ee-9747-0242ac110002/roslaunch-603a412e856e-3234.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://603a412e856e:36633/

SUMMARY

PARAMETERS

• /display_kinect_intrinsic: False
• /rosdistro: melodic
• /rosversion: 1.14.13
• /source_rosbag_path: /data/sofa_normal...
• /target_camera_calibration_yaml_path: ['/data/left_regu...
• /target_rosbag_path: ['/data/sofa_norm...

NODES
/
k4a_projector (k4a_projector/k4a_projector)

ROS_MASTER_URI=http://localhost:11311

process[k4a_projector-1]: started with pid [3276]
[2023-10-04 23:18:55.374] [error] [t=3289] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (61): transform_engine_start_helper(). Transform engine create and initialize failed with error code: 204.
[2023-10-04 23:18:55.374] [error] [t=3289] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (68): teresult == K4A_DEPTH_ENGINE_RESULT_SUCCEEDED returned failure in transform_engine_start_helper()
[2023-10-04 23:18:55.374] [error] [t=3289] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (86): transform_engine_start_helper(tewrapper) returned failure in transform_engine_thread()
[2023-10-04 23:18:55.374] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (313): tewrapper_create(). Transform Engine thread failed to start
[2023-10-04 23:18:55.374] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/transformation/transformation.c (637): transformation_context->tewrapper != NULL returned failure in transformation_create()
[2023-10-04 23:18:55.525] [error] [t=3305] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (61): transform_engine_start_helper(). Transform engine create and initialize failed with error code: 204.
[2023-10-04 23:18:55.525] [error] [t=3305] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (68): teresult == K4A_DEPTH_ENGINE_RESULT_SUCCEEDED returned failure in transform_engine_start_helper()
[2023-10-04 23:18:55.525] [error] [t=3305] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (86): transform_engine_start_helper(tewrapper) returned failure in transform_engine_thread()
[2023-10-04 23:18:55.525] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (313): tewrapper_create(). Transform Engine thread failed to start
[2023-10-04 23:18:55.525] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/transformation/transformation.c (637): transformation_context->tewrapper != NULL returned failure in transformation_create()
[2023-10-04 23:18:55.609] [error] [t=3307] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (61): transform_engine_start_helper(). Transform engine create and initialize failed with error code: 204.
[2023-10-04 23:18:55.609] [error] [t=3307] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (68): teresult == K4A_DEPTH_ENGINE_RESULT_SUCCEEDED returned failure in transform_engine_start_helper()
[2023-10-04 23:18:55.609] [error] [t=3307] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (86): transform_engine_start_helper(tewrapper) returned failure in transform_engine_thread()
[2023-10-04 23:18:55.609] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (313): tewrapper_create(). Transform Engine thread failed to start
[2023-10-04 23:18:55.609] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/transformation/transformation.c (637): transformation_context->tewrapper != NULL returned failure in transformation_create()
[2023-10-04 23:18:55.688] [error] [t=3309] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (61): transform_engine_start_helper(). Transform engine create and initialize failed with error code: 204.
[2023-10-04 23:18:55.688] [error] [t=3309] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (68): teresult == K4A_DEPTH_ENGINE_RESULT_SUCCEEDED returned failure in transform_engine_start_helper()
[2023-10-04 23:18:55.688] [error] [t=3309] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (86): transform_engine_start_helper(tewrapper) returned failure in transform_engine_thread()
[2023-10-04 23:18:55.688] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/tewrapper/tewrapper.c (313): tewrapper_create(). Transform Engine thread failed to start
[2023-10-04 23:18:55.688] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/transformation/transformation.c (637): transformation_context->tewrapper != NULL returned failure in transformation_create()
[2023-10-04 23:18:56.414] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/transformation/transformation.c (584): k4a_transformation_t_get_context(). Invalid k4a_transformation_t (nil)
[2023-10-04 23:18:56.414] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/transformation/transformation.c (688): Invalid argument to transformation_depth_image_to_color_camera_custom(). transformation_handle ((nil)) is not a valid handle of type k4a_transformation_t
[2023-10-04 23:18:56.414] [error] [t=3276] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (1201): transformation_depth_image_to_color_camera_custom(transformation_handle, depth_image_buffer, &depth_image_descriptor, custom_image_buffer, &dummy_descriptor, transformed_depth_image_buffer, &transformed_depth_image_descriptor, transformed_custom_image_buffer, &dummy_descriptor, interpolation_type, invalid_custom_value) returned failure in k4a_transformation_depth_image_to_color_camera()
terminate called after throwing an instance of 'k4a::error'
what(): Failed to convert depth map to color camera geometry!
[k4a_projector-1] process has died [pid 3276, exit code -6, cmd /root/devel/lib/k4a_projector/k4a_projector __name:=k4a_projector __log:=/root/.ros/log/03b7af24-630a-11ee-9747-0242ac110002/k4a_projector-1.log].
log file: /root/.ros/log/03b7af24-630a-11ee-9747-0242ac110002/k4a_projector-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete