Overview
depth_image_proc provides basic processing for depth images, much as
image_proc does for traditional 2D images. The two packages are
complementary; for example, you can (and should!) rectify your depth
image before converting it to a point cloud.
A variety of camera technologies can produce depth images:
The Kinect and related devices
Traditional stereo cameras
Time-of-flight cameras
See REP 118 for details on depth image representation. The REP recommends that, wherever possible, producers and consumers of depth data use depth images (of type sensor_msgs/Image) instead of sensor_msgs/DisparityImage.
All ROS 2 components (besides ConvertMetricNode) in this package support
both standard floating point depth images and OpenNI-specific uint16 depth
images. Thus when working with OpenNI cameras (e.g. the Kinect), you can
save a few CPU cycles by using the uint16 raw topics instead of the float
topics.
For an example of depth_image_proc in practice, examine the contents of
openni2_launch.
- Overview
- Nodes and Components
- depth_image_proc::ConvertMetricNode
- depth_image_proc::CropForemostNode
- depth_image_proc::DisparityNode
- depth_image_proc::PointCloudXyzNode
- depth_image_proc::PointCloudXyzRadialNode
- depth_image_proc::PointCloudXyziNode
- depth_image_proc::PointCloudXyziRadialNode
- depth_image_proc::PointCloudXyzrgbNode
- depth_image_proc::PointCloudXyzrgbRadialNode
- depth_image_proc::RegisterNode
- Tutorials