<<TOC(4)>>

## AUTOGENERATED DON'T DELETE
## CategoryPackage

'''rgbd_image_proc''' is an application available in [[ccny_rgbd]]. The application subscribes to the output of RGB-D cameras as produces by the [[openni_camera]] (or compatible) driver and performs image rectification, depth-to-rgb registration, depth unwarping, and point cloud generation.

{{attachment:rgbd_image_proc.png}}

Two drivers are available: `rgbd_image_proc_nodelet` and `rgbd_image_proc_node`. Their parameters and topics are identical.

== ROS API ==

=== Subscribed topics ===
{{{
#!clearsilver CS/NodeAPI
sub {
no_header=True
   0{
    name = /camera/rgb/image_color
    type = sensor_msgs/Image
    desc = Debayered RGB image
    }
   1{
    name = /camera/depth/image_raw
    type = sensor_msgs/Image
    desc = Depth image, 16UC1 encoding, in millimeters (0 = invalid data)
    }
   2{
    name = /camera/rgb/camera_info
    type = sensor_msgs/CameraInfo
    desc = !CameraInfo associated with the RGB image
    }
   3{
    name = /camera/depth/camera_info
    type = sensor_msgs/CameraInfo
    desc = !CameraInfo associated with the Depth image
    }
}
}}}
=== Published topics ===
{{{
#!clearsilver CS/NodeAPI
pub {
no_header=True
   0{
    name = /rgbd/rgb
    type = sensor_msgs/Image
    desc = Output RGB image (rescaled, rectified)
    }
   1{
    name = /rgbd/depth
    type = sensor_msgs/Image
    desc = Output Depth image (rescaled, rectified, registered in the RGB frame, and unwarped)
    }
   2{
    name = /rgbd/info
    type = sensor_msgs/CameraInfo
    desc = Optimal !CameraInfo after rescaling and rectification (has 0 distortion). Applies to both images.
    }
   3{
    name = /rgbd/cloud
    type = sensor_msgs/PointCloud2
    desc = Textured point cloud
    }
}
}}}

=== Parameters ===
{{{
#!clearsilver CS/NodeAPI
no_header=True
param{
no_header=True
    0.name = ~queue_size
    0.type = int
    0.default = 5
    0.desc = input and output queue sizes

    1.name = ~calib_path
    1.type = string
    1.default = `"$HOME/.ros/rgbd_calibration"`
    1.desc = path to folder where calibration `.yml` files are stored

    2.name = ~scale
    2.type = double
    2.default = 1.0
    2.desc = rescaling parameter. Output image dimensions = input image dimensions / scale. 

    3.name = ~unwarp
    3.type = bool
    3.default = `true`
    3.desc = whether to perform per-pixel unwarping of the depth image based on a polynomial calibration model. If `true`, `calib_path/warp.yml` must exist. If `false`, the depth values won't be modified.

    4.name = ~publish_cloud
    4.type = bool
    4.default = `true`
    4.desc = whether to publish the textured <<MsgLink(sensor_msgs/PointCloud2)>>. Disabling this will increase performance when no point cloud is required.
}
}}}