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Hi DavidF!

That is an easy one!! If you look into the file $(find openni_camera)/launch/openni_node.launch you will see that the parameter depth_registration is set to true:

<param name="depth_registration" value="true" />

This means that the depth image is being registered with the rgb image (so all the pixels in both images represent the exact same point in the real world) and therefore both /camera/rgb/image_color and /camera/depth/points are now expressed in terms of /openni_rgb_optical_frame.

If you set that parameter to false, then /camera/depth/points will have frame_id = /openni_depth_optical_frame as you would expect.

I hope this was helpful. Martin.

Hi DavidF!

That is an easy one!! If you look into the file $(find openni_camera)/launch/openni_node.launch you will see that the parameter depth_registration is set to true:

<param name="depth_registration" value="true" />

This means that the depth image is being registered with the rgb image (so all the pixels in both images represent the exact same point points in the real world) and therefore both /camera/rgb/image_color and /camera/depth/points are now expressed in terms of /openni_rgb_optical_frame.

If you set that parameter to false, then /camera/depth/points will have frame_id = /openni_depth_optical_frame as you would expect.

I hope this was helpful. Martin.