[ros-users] Openni_camera rgb and depth modes

[Pinaki Banerjee]

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 at 15Hz, VGA_30Hz (2): 640x480 at 30Hz, VGA_25Hz (3):
   640x480 at 25Hz, QVGA_25Hz (4): 320x240 at 25Hz, QVGA_30Hz (5): 320x240 at 30Hz,
   QVGA_60Hz (6): 320x240 at 60Hz, QQVGA_25Hz (7): 160x120 at 25Hz, QQVGA_30Hz
   (8): 160x120 at 30Hz, QQVGA_60Hz (9): 160x120 at 60Hz

~depth_mode (int, default: 2)

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



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


Thank you,
Pinaki
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