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answered 2012-08-21 05:38:17 -0500

joq gravatar image

REP-0118 explains the depth image interface.

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REP-0118 explains the depth image interface.

Assuming you are using the openni_launch package, the topics published are documented here.

REP-0118 explains the depth image interface.

Assuming you are using the openni_launch package, the topics published are documented here.. From what you asked, you probably want one of these:

  • /camera/depth/image
  • /camera/depth/points

The image is a 2D depth matrix containing floating point distances in meters. The points are a 3D point cloud in the camera's frame of reference (/camera_depth_optical_frame).