camera_info.yaml

header:
  seq: 7243
  stamp:
    secs: 1496425113
    nsecs: 948905222
  frame_id: "right_hand_left_camera_rgb_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.007313, -0.068372, -0.002248, 0.001679, 0.0]
K: [509.015381, 0.0, 320.675346, 0.0, 508.683267, 236.130072, 0.0, 0.0, 1.0]
R: [0.999627, 0.007759, 0.026199, -0.007718, 0.999969, -0.001661, -0.026211, 0.001459, 0.999655]
P: [514.03069, 0.0, 302.063255, 0.0, 0.0, 514.03069, 236.707602, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

dynamic_tf_depth_image_creator_sample.launch

<launch>

  <arg name="gui" default="true" />
  <arg name="child_frame" default="virtual_camera_frame" />

  <include file="$(find jsk_pcl_ros)/sample/include/play_rosbag_stereo.xml" />

  <node name="dynamic_tf_publisher" pkg="tf2_dynamic" type="tf2_dynamic_node">
    <param name="parent_frame" type="string" value="right_hand_right_camera_rgb_optical_frame" />
    <param name="child_frame" type="string" value="$(arg child_frame)" />
  </node>

  <node name="image_publisher" pkg="jsk_perception" type="image_publisher.py">
    <remap from="~output" to="~image_color" />
    <remap from="~output/camera_info" to="~camera_info" />
    <rosparam subst_value="true">
      file_name: $(find jsk_perception)/sample/kiva_pod_image_color.jpg
      encoding: bgr8
      publish_info: true
      frame_id : $(arg child_frame)
      fovx: 63.807080398225786
      fovy: 50.055570429011816
    </rosparam>
  </node>

  <node name="depth_image_creator" pkg="nodelet" type="nodelet" args="standalone jsk_pcl/DepthImageCreator">
    <remap from="~input" to="/right_hand_right_camera/depth_registered/points" />
    <remap from="~info" to="/image_publisher/camera_info" />
    <rosparam>
      use_approximate: true
      max_queue_size: 3
      max_pub_queue_size: 1
      max_sub_queue_size: 1
    </rosparam>
  </node>

  <group ns="/right_hand_right_camera">
    <node name="pointcloud_xyzrgb_to_xyz" pkg="nodelet" type="nodelet" args="standalone jsk_pcl_utils/PointCloudXYZRGBToXYZ">
      <remap from="~input" to="depth_registered/points" />
    </node>
    <node name="depth_image_creator" pkg="nodelet" type="nodelet" args="standalone jsk_pcl/DepthImageCreator">
      <remap from="~input" to="pointcloud_xyzrgb_to_xyz/output" />
      <remap from="~info" to="/image_publisher/camera_info" />
      <rosparam>
        use_approximate: true
        max_queue_size: 3
        max_pub_queue_size: 1
        max_sub_queue_size: 1
      </rosparam>
    </node>
  </group>

  <group if="$(arg gui)">
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find jsk_pcl_ros)/sample/rviz/depth_image_creator.rviz"></node>
  </group>

</launch>