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The projection matrix contains the intrinsic values for the rectified image. When you rectify your image (remove the distortion), you (in general) also modify the intrinsic calibration matrix (e.g. because you remove pixels at the edge of the image). So if your subscribe to the raw image, you need to use the coefficients from the camera_matrix, if you subscribe to the rect image, you use the projection_matrix.
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The projection matrix contains the intrinsic values for the rectified image. When you rectify your image (remove the distortion), you (in general) also modify the intrinsic calibration matrix (e.g. because you remove pixels at the edge of the image). So if your subscribe to the raw image, you need to use the coefficients from the camera_matrix, if you subscribe to the rect image, you use the projection_matrix.
The projection matrix can also be used in a Stereo Setup. It then contains not only the intrinsic calibration, but also the transformation between the two cameras.
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