`isaac_ros_depth_image_proc`

Source code on GitHub.

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.