Overview

This component outputs data obtained by a RGBD sensor.

implementation_id	OpenNIGrabber
category	example

Data Ports

Input Ports

N/A

Output Ports

port name	data type	unit	description
image	Img::TimedCameraImage		color image
depth	Img::TimedCameraImage		depth image
cloud	PointCloudTypes::PointCloud		Point cloud

Service Ports

Service Providers

N/A

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
outputColorImage	bool		0	flag to output color images
outputDepthImage	bool		0	flag to output depth images
outputPointCloud	bool		0	flag to output point clouds (XYZ format)
outputPointCloudRGBA	bool		0	flag to output point clouds (XYZRGBA format)
debugLevel	int		0	debug level

Configuration File

N/A