synchronize kinect rgb/image_color depth/image or points

edit

-------------------- SOLUTION ----------------- message_filters::TimeSynchronizer... has to be message_filters::Synchronizer... found that out after a day

How to mark as solved ?

Hi

I want to synchronize the image_color and the depth/image topic of a kinect.

both topics have different frequencies. i hoped before that they publish at the same time but sadly not.

is there a way to let these to topics been published simultaneously?

other posibility is to use a topic with rgb and d info, but i need an easy way to get the opencv rgb image.

the only topic i see, which has all info is "depth/points", but I need an opencv RGB image also, an iterative loop over the pointcloud to obtain the opencv image pixel by pixel seems to be studpi, because rgb image topic already exists.

why doesn'T that work:

private:
    message_filters::Subscriber<sensor_msgs::image> image_sub;
    message_filters::Subscriber<sensor_msgs::image> pointcloud_sub;

    message_filters::TimeSynchronizer<sensor_msgs::image, sensor_msgs::image=""> synchronizer;

public :

    // Constructor
    VisualAidingOpenni()
        :  nh("~")/*, it(nh)*/, synchronizer(1), ....

private:
void a function ()... {

        image_sub.subscribe(nh, topic_image, 1);
        pointcloud_sub.subscribe(nh, topic_pointcloud, 1);
        synchronizer.connectInput(image_sub, pointcloud_sub);
        synchronizer.registerCallback(boost::bind(&VisualAidingOpenni::subscriber_Callback,this , _1, _2));
}


void  subscriber_Callback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::ImageConstPtr& pointcloud)
    {

...
}

forget the word pointcloud, tried the depth image at last, so everything in sensor_msgs::image

this doesn't even compile

private:
    message_filters::Subscriber<sensor_msgs::image> image_sub;
    message_filters::Subscriber<sensor_msgs::image> pointcloud_sub;
    typedef sync_policies::ApproximateTime<sensor_msgs::image, sensor_msgs::image=""> MySyncPolicy;
    message_filters::TimeSynchronizer<mysyncpolicy> synchronizer;

void function()
{
        image_sub = new message_filters::Subscriber(nh, topic_image, 1);
        pointcloud_sub = new message_filters::Subscriber(nh, topic_pointcloud, 1);
        synchronizer = new message_filters::TimeSynchronizer<mysyncpolicy>(MySyncPolicy(10), image_sub, pointcloud_sub);
 synchronizer.registerCallback(boost::bind(&VisualAidingOpenni::subscriber_Callback,this , _1, _2));

}

void  subscriber_Callback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::ImageConstPtr& pointcloud)
    {

i get this error

/opt/hector/students/friedrich/hector_visual_aiding/hector_visaid_monocular/src/visual_aiding_openni.cpp:-1: In Elementfunktion »void VisualAidingOpenni::CamInfo_Callback(const CameraInfoConstPtr&)«:
:-1: Fehler:[CMakeFiles/visual_aiding_openni.dir/src/visual_aiding_openni.o] Fehler 1

THX