Unit of depth image
mmurooka opened this issue · 3 comments
According to http://www.ros.org/reps/rep-0118.html, the unit of depth image should be meter.
OpenNI node, which publishes depth image in millimeters, is irregular.
JimmyDaSilva@1b920b9 supports only OpenNI node.
We should support both of normal node and OpenNI node.
The encoding of depth image is differ, so we can distinguish normal node and OpenNI node.
Sounds like a good plan @mmurooka !
An easy way to do so could to check if the values are below or under 100 before dividing by 1000
if z>100 then z/=1000
Or do have something more sophisticated in mind ?
How about #13?
I just confirmed that it works with the kinect in the gazebo environment. (normal node publishing the depth image of meter unit.)
OpenNI node is not tested yet.
Seems like a proper way to do it.