In Electric we have two versions of the OpenNI driver node(let):
- The old Diamondback version. This is a monolithic driver that also does a lot of processing - debayering and generation of point clouds.
The new version, documented at openni_camera (Electric view). This is stripped down to publish only the raw device outputs - RGB, depth and IR images. Processing is left to depth_image_proc. New features include access to the IR stream and ability to calibrate the RGB and depth cameras for greater accuracy.
The new ROS API has reached a stable state. In Fuerte the old version will be removed.
The ROS node(let) API is under review. The C++ OpenNI wrapper APIs are not yet considered public.
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