ROS API
openni_node
The OpenNI node (or nodelet combo) implement the following ROS API:Published Topics
Depth Camera
- Calibration metadata for the depth 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.
- Disparity image representing the output of the depth camera (replaces the current camera/depth/image_raw).
- The 3D pointcloud acquired by the depth camera, as (deprecated) sensor_msgs/PointCloud. No RGB data.
- The 3D pointcloud acquired by the depth camera, as (recommended) sensor_msgs/PointCloud2. No RGB data.
RGB Camera
- Calibration metadata for the color camera.
- The raw images from the color camera. Unrectified, could be in bayer (if possible) or RGB (when the OpenNI debayering is improved).
- Unrectified, monochrome.
- Unrectified, color. If rgb/image_raw is always RGB8 this is unnecessary, but consistent with image_proc.
- Rectified, monochrome.
- Rectified, color.
Registered RGB + Depth
- The 3D pointcloud with depths registered to the (rectified) RGB image, as (deprecated) sensor_msgs/PointCloud. XYZRGB.
- The 3D pointcloud with depths registered to the (rectified) RGB image, as (recommended) sensor_msgs/PointCloud2. XYZRGB.
IR camera
- Calibration metadata for the raw IR camera images.
- The raw IR images, uint16.