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The cameras d435i and D455 publish /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw with the same frame_id: camera_infra1_optical_frame.
Shouldn't /camera/infra2/image_rect_raw be published with the frame_id camera_infra2_optical_frame?
The streams /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw should have different reference frames
to compute disparity-to-depth mapping matrix Q used by OpenCV's reprojectImageTo3D,
Or frame_ids of the streams /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw don't matter, because /camera/infra1/camera_info and /camera/infra2/camera_info are supposed to be used to compute disparity-to-depth mapping matrix Q?
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The cameras d435i and D455 publish /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw with the same frame_id: camera_infra1_optical_frame.
Shouldn't /camera/infra2/image_rect_raw be published with the frame_id camera_infra2_optical_frame?
The streams /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw should have different reference frames
to compute disparity-to-depth mapping matrix Q used by OpenCV's reprojectImageTo3D,
Or frame_ids of the streams /camera/infra1/image_rect_raw and /camera/infra2/image_rect_raw don't matter, because /camera/infra1/camera_info and /camera/infra2/camera_info are supposed to be used to compute disparity-to-depth mapping matrix Q?
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