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I didn't really read the details of your question very closely, nor did I look at the link. It seems to me that there are so many different conventions and coordinate systems used for camera geometry it often leads to confusion. If you are using a camera calibrated with camera_calibration, and the camera information is available as a CameraInfo topic, then I'd recommend using the image_geometry package. The two packages are specifically designed to work together, and the image_geometry package contains a number of useful functions. Check out the Python API and the C++ API.