isaac_ros_depth_image_proc

Source code available 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.