kinect depth and rgb registration

Question

Hi, im able to have rgb point cloud by registration using openni rqt_reconfigure. however, i want to access a pixel in rgb image (camera image_color topic) and find its depth. Which topic should i subscribe depth_registered/image_raw or depth_registered/rect.

I looked at the http://docs.ros.org/api/sensor_msgs/html/msg/Image.html . There is no depth in it. How can i access depth value

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Originally posted by dmngu9 on ROS Answers with karma: 150 on 2015-08-28

Post score: 0

Answer 1

The Kinect has the problem that not every pixel have an depth value. So it is not easy the get the depth of an pixel.

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Originally posted by duck-development with karma: 1999 on 2015-08-29

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by dmngu9 on 2015-08-29:
hi, i want to save 1 frame of depth registered image raw but it gives me error when i run image_view and right click to save 1 frame because its not in brg8 format. how can i save a depth map