Hi all, Attached is a draft REP defining a representation for depth images in ROS. This standardizes the format used by the ROS OpenNI driver and associated processing nodelets, and should be useful to other producers/consumers of depth data. You can also view it in HTML at http://people.willowgarage.com/mihelich/rep-depth-image.html. If this interests you, please state your vote (see REP 10 - Voting Guidelines ) as well as any comments and concerns. We seem to be having archival issues, so (light) early feedback for the ros-sig-perpip list is reproduced below. Cheers, Patrick Forwarded conversation Subject: Depth image REP ------------------------ From: *Ethan Rublee* Date: Fri, Dec 2, 2011 at 3:56 PM To: Patrick Mihelich Cc: ros-sig-perpip@code.ros.org +1 ---------- From: *Vincent Rabaud* Date: Fri, Dec 2, 2011 at 4:13 PM To: Ethan Rublee Cc: Patrick Mihelich , ros-sig-perpip@code.ros.org +0, it looks good but I don't know much about the previous messages. The deprecation of the DisparityImage will happen through the tic-toc I guess. ---------- From: *Brian Gerkey* Date: Fri, Dec 2, 2011 at 5:47 PM To: Patrick Mihelich Cc: ros-sig-perpip@code.ros.org +0. I'm not a user of this part of the system, but find the REP to be well-reasoned and convincing. brian.