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ROS API

openni_node

The OpenNI node (or nodelet combo) implement the following ROS API:

Published Topics

Depth Camera

camera/depth/camera_info (sensor_msgs/CameraInfo)

• Calibration metadata for the depth image.

camera/depth/image_raw (sensor_msgs/Image)

• Perhaps the raw depth values or shifts (if available) from the driver? Would be used in a nodelet design for processing these into disparities or point clouds.

camera/depth/disparity (stereo_msgs/DisparityImage)

• Disparity image representing the output of the depth camera (replaces the current camera/depth/image_raw).

camera/depth/points (sensor_msgs/PointCloud)

• The 3D pointcloud acquired by the depth camera, as (deprecated) sensor_msgs/PointCloud. No RGB data.

camera/depth/points2 (sensor_msgs/PointCloud2)

• The 3D pointcloud acquired by the depth camera, as (recommended) sensor_msgs/PointCloud2. No RGB data.

RGB Camera

camera/rgb/camera_info (sensor_msgs/CameraInfo)

• Calibration metadata for the color camera.

camera/rgb/image_raw (sensor_msgs/Image)

• The raw images from the color camera. Unrectified, could be in bayer (if possible) or RGB (when the OpenNI debayering is improved).

camera/rgb/image_mono (sensor_msgs/Image)

• Unrectified, monochrome.

camera/rgb/image_color (sensor_msgs/Image)

• Unrectified, color. If rgb/image_raw is always RGB8 this is unnecessary, but consistent with image_proc.

camera/rgb/image_rect (sensor_msgs/Image)

• Rectified, monochrome.

camera/rgb/image_rect_color (sensor_msgs/Image)

• Rectified, color.

Registered RGB + Depth

camera/rgb/points (sensor_msgs/PointCloud)

• The 3D pointcloud with depths registered to the (rectified) RGB image, as (deprecated) sensor_msgs/PointCloud. XYZRGB.

camera/rgb/points2 (sensor_msgs/PointCloud2)

• The 3D pointcloud with depths registered to the (rectified) RGB image, as (recommended) sensor_msgs/PointCloud2. XYZRGB.

IR camera

camera/ir/camera_info (sensor_msgs/CameraInfo)

• Calibration metadata for the raw IR camera images.

camera/ir/image_raw (sensor_msgs/Image)

• The raw IR images, uint16.