nodelet_plugins.xml

<library path="lib/libdepth_image_proc">

  <class name="depth_image_proc/convert_metric"
	 type="depth_image_proc::ConvertMetricNodelet"
	 base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to convert raw uint16 depth image in mm to float depth image in m.
    </description>
  </class>

  <class name="depth_image_proc/disparity"
	 type="depth_image_proc::DisparityNodelet"
	 base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to convert depth image to disparity image.
    </description>
  </class>

  <class name="depth_image_proc/point_cloud_xyz"
	 type="depth_image_proc::PointCloudXyzNodelet"
	 base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to convert depth image to XYZ point cloud.
    </description>
  </class>

  <class name="depth_image_proc/point_cloud_xyzrgb"
	 type="depth_image_proc::PointCloudXyzrgbNodelet"
	 base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to combine registered depth image and RGB image into XYZRGB point cloud.
    </description>
  </class>

  <class name="depth_image_proc/point_cloud_xyzi"
         type="depth_image_proc::PointCloudXyziNodelet"
         base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to combine registered depth image and intensity image into XYZI point cloud.
    </description>
  </class>
  <class name="depth_image_proc/point_cloud_xyz_radial"
         type="depth_image_proc::PointCloudXyzRadialNodelet"
         base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to convert an Radial depth map to a point.
    </description>
  </class>

  <class name="depth_image_proc/point_cloud_xyzi_radial"
         type="depth_image_proc::PointCloudXyziRadialNodelet"
         base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to convert an Radial depth and intensity map to a point.
    </description>
  </class>
  <class name="depth_image_proc/register"
	 type="depth_image_proc::RegisterNodelet"
	 base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to create a depth image registered to another camera frame.
    </description>
  </class>

  <class name="depth_image_proc/crop_foremost"
	 type="depth_image_proc::CropForemostNodelet"
	 base_class_type="nodelet::Nodelet">
    <description>
      Nodelet to crop a depth image from foremost depth to a specific range.
    </description>
  </class>

</library>