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 <erublee@willowgarage.com>
Date: Fri, Dec 2, 2011 at 3:56 PM
To: Patrick Mihelich <mihelich@willowgarage.com>
Cc: ros-sig-perpip@code.ros.org


+1

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From: Vincent Rabaud <vrabaud@willowgarage.com>
Date: Fri, Dec 2, 2011 at 4:13 PM
To: Ethan Rublee <erublee@willowgarage.com>
Cc: Patrick Mihelich <mihelich@willowgarage.com>, 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.

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From: Brian Gerkey <gerkey@willowgarage.com>
Date: Fri, Dec 2, 2011 at 5:47 PM
To: Patrick Mihelich <mihelich@willowgarage.com>
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.