Example ROS launch file that uses depth_image_proc to convert an RGB-depth image pair into a point cloud

openni_record_player.launch

<launch>

  <!--
  To distinguish between the cases where the rgb image is
  1280x1024 versus 640x480.  This affects the pipeline.
  -->
  <arg name="high_res_rgb" default="true"/>
  <arg name="cloud_input_ns" value="camera/rgb_downsampled"
       if="$(arg high_res_rgb)"/>
  <arg name="cloud_input_ns" value="camera/rgb" unless="$(arg high_res_rgb)"/>

  <!-- Nodelet manager for this pipeline -->
  <node pkg="nodelet" type="nodelet" args="manager"
        name="record_player_manager" output="screen"/>

  <!-- Debayer and undistort the rgb image
       TODO: this should be split into nodelets -->
  <node 
    pkg="image_proc" 
    type="image_proc" 
    name="ip_node1" 
    ns="camera/rgb"
    />

  
  <!-- The depth image is already rectified and registered
       to the camera optical frame, but stored in mm; convert it
       to meters -->
  <node pkg="nodelet" type="nodelet" name="metric_rect" 
        args="load depth_image_proc/convert_metric record_player_manager --no-bond">
    <remap from="image_raw" to="camera/depth/image_raw"/>
    <remap from="image" to="camera/depth/image"/>
  </node>

  <!-- Downsample and crop rgb image before converting to cloud, if it's high res -->
  <node pkg="nodelet" type="nodelet" name="downsample_rgb"
        args="load image_proc/crop_decimate record_player_manager --no-bond"
        if="$(arg high_res_rgb)">
    <param name="decimation_x" value="2"/>
    <param name="decimation_y" value="2"/>
    <param name="width" value="1280"/>
    <param name="height" value="960"/>
    <remap from="camera" to="camera/rgb"/>
    <remap from="camera_out" to="$(arg cloud_input_ns)"/>
    <remap from="camera/rgb/image_raw" to="camera/rgb/image_rect_color"/>
    <remap from="$(arg cloud_input_ns)/image_raw" to="$(arg cloud_input_ns)/image_rect_color"/>
  </node>

  <!-- Convert it into a point cloud -->
  <node pkg="nodelet" type="nodelet" name="cloudify"
        args="load depth_image_proc/point_cloud_xyzrgb record_player_manager --no-bond">
    <remap from="depth_registered/image_rect" to="camera/depth/image"/>
    <remap from="depth_registered/points" to="camera/depth_registered/points"/>
    <remap from="rgb/image_rect_color" to="$(arg cloud_input_ns)/image_rect_color"/>
    <remap from="rgb/camera_info" to="$(arg cloud_input_ns)/camera_info"/>
  </node>
</launch>