Revision history [back]

The current driver publishes:

• /camera/depth/points -- this is the non-colored point cloud
• /camera/depth/image -- this is the depth image (not a point cloud)

For using the depth image, it is important to note that is a 32-bit float for each pixel, corresponding to meters. See this answer for how to convert to a cv::Mat.

The current driver publishes:

• /camera/depth/points -- this is the non-colored point cloudcloud. To use this, you'd probably want to use PCL (Point Cloud Library) functions to access individual points in a meaningful manner.
• /camera/depth/image -- this is the depth image (not a point cloud)

cloud). It can easily be converted to an OpenCV image using the cv_bridge package. For using the depth image, it is important to note that is a 32-bit float for each pixel, corresponding to meters. See thisThis answer for how to convert to a cv::Mat.

The current driver publishes:publishes both point clouds and images:

• /camera/depth/points -- this is the non-colored point cloud. To use this, you'd probably want to use PCL (Point Cloud Library) functions to access individual points in a meaningful manner.
• /camera/depth/image -- this is the depth image (not a point cloud). It can easily be converted to an OpenCV image using the cv_bridge package. For using the depth image, it is important to note that is a 32-bit float for each pixel, corresponding to meters. This answer may and this one contain some useful information on using the image.