ROS API

Kinect Node

The Kinect node and nodelet implement the following ROS API:

Published Topics

camera/points (sensor_msgs/PointCloud)
  • The 3D pointcloud acquired by the Kinect stereo, as pointcloud version 1
camera/points2 (sensor_msgs/PointCloud2)
  • The 3D pointcloud acquired by the Kinect stereo, as pointcloud version 2
camera/rgb/camera_info (sensor_msgs/CameraInfo)
  • Metadata (camera matrix, distortion, rectification, projection) for the color camera
camera/rgb/image_raw (sensor_msgs/Image)
  • The raw uncompressed images of the color camera
camera/depth/camera_info (sensor_msgs/CameraInfo)
  • Metadata (camera matrix, distortion, rectification, projection) for the infrared depth camera
camera/depth/image_raw (sensor_msgs/Image)
  • The raw uncompressed images of the infrared depth camera

Parameters

kinect_node/depth/camera_info_url (namespace on parameter server)
  • Metadata (camera matrix, distortion, rectification, projection) for the infrared depth camera.

Wiki: kinect_camera (last edited 2010-11-23 17:07:53 by wim)