[ros-users] Openni_camera rgb and depth modes

Hi,

The openni_camera provides following options in the dynamic configure to
change the resolution of the rgb and depth images :

~image_mode (int, default: 2)

- Image output mode for the color/grayscale image Possible values are:
SXGA_15Hz (1): 1280x1024@15Hz, VGA_30Hz (2): 640x480@30Hz, VGA_25Hz (3):
640x480@25Hz, QVGA_25Hz (4): 320x240@25Hz, QVGA_30Hz (5): 320x240@30Hz,
QVGA_60Hz (6): 320x240@60Hz, QQVGA_25Hz (7): 160x120@25Hz, QQVGA_30Hz
(8): 160x120@30Hz, QQVGA_60Hz (9): 160x120@60Hz

~depth_mode (int, default: 2)

- depth output mode Possible values are: SXGA_15Hz (1): 1280x1024@15Hz,
VGA_30Hz (2): 640x480@30Hz, VGA_25Hz (3): 640x480@25Hz, QVGA_25Hz (4):
320x240@25Hz, QVGA_30Hz (5): 320x240@30Hz, QVGA_60Hz (6): 320x240@60Hz,
QQVGA_25Hz (7): 160x120@25Hz, QQVGA_30Hz (8): 160x120@30Hz, QQVGA_60Hz
(9): 160x120@60Hz



Can somebody please indicate how the sub-sampling is done? How is the lower
resolution(ex. 160x120@30Hz) is extracted from the original image form the
sensor?


Thank you,
Pinaki