This package consists of a wrapper around the Openni2 RGBD camera drivers.
The openni_wrapper package can be launched in the following way:
```roslaunch openni_wrapper main.launch````
Openni publishes depth images using uint16, aka the 16UC1 type in ros. Full discussion at: http://wiki.ros.org/depth_image_proc#depth_image_proc.2BAC8-convert_metric
The (depth) topics published by openni_wrapper have the following format:
/camera_namespace/depth/image_raw- 16UC1/camera_namespace/depth/image_rect- 16UC1/camera_namespace/depth/image_rect_meters- 32FC1/camera_namespace/depth_registered/image_rect- 16UC1
Camera calibration parameters are published in the following topics (note that the calibration parameters are different for the two cameras):
/camera_namespace/rgb/camera_info/camera_namespace/depth/camera_info
The openni_wrapper supports the following parameters:
camera- the namespace of the camera (e.g. head_xtion)
For example, to start the first camera in the head_xtion namespace:
roslaunch openni_wrapper camera:=head_xtion
For example, on computer 1:
roslaunch openni_wrapper main.launch camera:=chest_xtion
And on computer 2:
roslaunch openni_wrapper camera:=head_xtion