Howdy folks

Using the zedwrapper, I have logged (rosbag) rgb and depth images from a ZED stereo camera, along with camerainfo topics, but omitting the actual point cloud data in order to conserve drive space.

When I create the point clouds offline using the the depthimageproc/pointcloudxyzrgb nodelet I notice that the geometry is warped.

Question: Do I have to un-distort the rgb and depth image first (e.g. using imageproc) before passing it to depthimageproc/pointcloud_xyzrgb or does the latter take the distortion parameters automatically into account when creating the point clouds?

Thanks

Galto