Comments (2)
Require first that Gilberto's patch is accepted in Blender trunk.
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Depth images are published as sensor_msgs/Image encoded as 32-bit float. Each pixel is a depth (along the camera Z axis) in meters. [1]
Then we can use depth_image_proc [2] to get PointCloud data.
[1] http://ros.org/reps/rep-0118.html
[2] http://ros.org/wiki/depth_image_proc
note from [2]: All nodelets (besides convert_metric) 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.
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