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In my lab, we're using ROS and an Xtion Pro, and we need to characterize the IR "noise" from another piece of equipment that we're using. We wrote a ROS node to do so, using the openni_launch and sensor_msgs libraries. As soon as we run it, we get the printout "Pixel encoding: mono16".

We don't recognize the format and Google was of little aid. In order for this node to be useful, we need a mental or programmatic way to parse that into a format we recognize.

rsegal
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Mono16 is 16bit monochrome encoding. This document might be helpful for further understanding of pixel formats: http://www.visiononline.org/userassets/aiauploads/file/Pixel_Format_Naming_Convention_1-1-00.pdf

Jan Kukacka
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