# Revision history [back]

/camera/depth_registered/points publishes point clouds and not Image.

You can convert it from a sensor_msgs::PointCloud2 to a pcl::PointCloud <pcl::PointXYZRGB> data type.

Are you using openni.launch from openni_launch pkg?

If yes, the topic /camera/depth_registered/image_raw should work for you.

You can learn the type of the topic by using -

rostopic type <topic name>


/camera/depth_registered/points publishes point clouds and not Image.

You can convert it from a sensor_msgs::PointCloud2 to a pcl::PointCloud <pcl::PointXYZRGB> data type.

Are you using openni.launch from openni_launch pkg?

If yes, the topic /camera/depth_registered/image_raw should work for you.

You can learn the type of the topic by using -

rostopic type <topic name>


If I remember correctly there is a arg called depth_registration that should be set to true if you want depth registration to be available. I am not exactly sure. Please check openni.launch file and try setting it to true if it is false.

/camera/depth_registered/points publishes point clouds and not Image.

You can convert it from a sensor_msgs::PointCloud2 to a pcl::PointCloud <pcl::PointXYZRGB> data type.

Are you using openni.launch from openni_launch pkg?

If yes, the topic /camera/depth_registered/image_raw should work for you.

You can learn the type of the topic by using -

rostopic type <topic name>


If I remember correctly there is a arg an 'arg' called depth_registration that should be set to true if you want depth registration to be available. I am not exactly sure. Please check openni.launch file and try setting it to true if it is false.

/camera/depth_registered/points publishes point clouds and not Image.

You can convert it from a sensor_msgs::PointCloud2 to a pcl::PointCloud <pcl::PointXYZRGB> data type.

Are you using openni.launch from openni_launch pkg?

If yes, the topic /camera/depth_registered/image_raw should work for you.

You can learn the type of the topic by using -

rostopic type <topic name>


If I remember correctly there is an 'arg' called depth_registration that should be set to true if you want depth registration to be available. I am not exactly sure. Please check openni.launch file and try setting it to true if it is false.

Though this seems off-topic, this provides some useful info on the different topics http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback