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 | 1 | initial version |
sd, qhd and hd are resolutions of the image. Details are given in iai_kinect2 repo.
For topic names,
_ir: infrared image
_color: color image
_depth: depth_image
additional _rect is for rectified image.
If you use depth_image_proc, with point_cloud_xyzrgb nodelet, you can convert depth images to point clouds.
| | 2 | No.2 Revision |
sd, qhd and hd are resolutions of the image. Details are given in iai_kinect2 repo.
For topic names,
_ir: infrared image
_color: color image
_depth: depth_image
additional _rect is for rectified image.
If you use depth_image_proc, with point_cloud_xyzrgb nodelet, you can convert depth images to point clouds.
Update:
For the depth values, asked in comments below, you need to check encoding. Encoding given in the question is: encoding: 16UC1 . This means 16-bits unsigned short with 1 channel. So each depth is represented with 2 bytes. To convert these bytes to depth, you should also check is_bigendian: 0 . In this question byte order is little-endian. As a result, depth = data[i] + (data[i + 1] << 8) which is also mentioned in comments below.
The point is, you need to check encoding and endianness.
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