==============
|package_name|
==============

:ir_github:`<isaac_ros_image_pipeline> <isaac_ros_depth_image_proc>`

API
----

Overview
^^^^^^^^

The ``isaac_ros_depth_image_proc`` package offers functionality for
processing depth images and producing a point cloud. It largely replaces
the ``depth_image_proc`` package.

Available Components
^^^^^^^^^^^^^^^^^^^^

======================== =========================================================================================================================================================================================================== ==================================================== ===================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================
Component                Topics Subscribed                                                                                                                                                                                           Topics Published                                     Parameters
======================== =========================================================================================================================================================================================================== ==================================================== ===================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================
``PointCloudXyzNode``    ``image_rect``, ``camera_info``: The depth image and the associated camera info with it                                                                                                                     ``points``: The resultant XYZ point cloud            ``skip``: Skips ``skip`` number of depth pixels in order to limit the number of pixels converted to points. ``output_height`` The output height of the point cloud. This should be equivalent to the height of the image. ``output_width`` The output width of the point cloud. This should be equivalent to the width of the image.
``PointCloudXyzrgbNode`` ``depth_registered/image_rect``: The depth image ``rgb/image_rect_color``: The RGB image associated with the depth image ``rgb/camera_info``: The camera info associated with the RGB image and depth image ``points`` The resultant XYZRGB point cloud          ``skip``: Skips ``skip`` number of depth pixels in order to limit the number of pixels converted to points. ``output_height`` The output height of the point cloud. This should be equivalent to the height of the image. ``output_width`` The output width of the point cloud. This should be equivalent to the width of the image.
======================== =========================================================================================================================================================================================================== ==================================================== ===================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================


.. |package_name| replace:: ``isaac_ros_depth_image_proc``