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If you are using the output of the driver directly, i.e. the image_color topic, then you need to use the distortion parameters and camera matrix obtained from the calibration.

If you use the rectified images, i.e. the image_rect_color, then the undistortion is already applied, so the distortion coefficients are zero but you need to use the projection matrix from the calibration in place of the camera matrix.

For an overview of the meaning of the matrices in the camera info, see http://wiki.ros.org/image_pipeline/CameraInfo.