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In ROS you can get it from the driver: http://ros.org/wiki/openni_camera. Just run roslaunch openni_launch openni.launch in one terminal and rosrun image_view image_view image:=/camera/rgb/image_rect_color in the other. If you need just that bit of a code you will have to look into the driver implementation available in openni_camera package.
In ROS you can get it from the driver: http://ros.org/wiki/openni_camera. Just run roslaunch openni_launch openni.launch in one terminal and rosrun image_view image_view image:=/camera/rgb/image_rect_color image:=/camera/ir/image_raw in the other. If you need just that bit of a code you will have to look into the driver implementation available in openni_camera package.
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