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There are at least two ways to use the depth data from the Kinect. First, you mention OpenCV. If you want to use OpenCV with the depth data you would probably want to subscribe to the /camera/depth/image topic, which provides a "depth" image. Each pixel value is the distance measurement in meters (as a 32-bit float). You would probably want to use cv_bridge to convert the ROS topic into an OpenCV cv::Mat -- there is a very good tutorial on cv_bridge. A simple piece of example code could be found in our depth_viewer package, which includes a C++ node that uses cv_bridge and converts the 32-bit float to a nicely scaled 8-bit grayscale image and displays it using OpenCV functions. You can use just about any OpenCV functions on the depth image, and of course segmentation runs fairly easy on a depth image compared to an RGB one.

The other possibility is to use the point cloud representation, on the /camera/depth/points or /camera/rgb/points topic (the latter having RGB data in addition to the standard XYZ data). Rather than using OpenCV, you would want to use the Point Cloud Library, which has many great features and accompanying tutorials.

I'm trying to use the depth data obtained by kinect with C++ program.

I've already installed openni_kinect with the guide(http://www.ros.org/wiki/openni_kinect, OpenNI itself is installed in this procedure, right?). Next, I'd like to use the depth data with C++ program, but I don't have any idea to do it. Include and use some special function? Or not supported yet?

Could you teach me how to do it? I'm using Ubuntu10.04, diamondback and I'd like to use the depth data in image processing using OpenCV2.2.

Thank you in advance.