Hi,

I am trying to generate a colored point cloud using a depth camera and an thermal camera. I have 2 questions.

1. I am unclear on how to do external calibration to find the tf of the thermal camera wrt to depth camera. I want to do something like this http://wiki.ros.org/openni_launch/Tutorials/ExtrinsicCalibrationExternal but this package isn't available for indigo. can I use cameraposecalibration supported on indigo? or should I use industrialextrinsiccalibration ?
2. To create a colored point cloud, i looked at depthimageproc/pointcloudxyzrgb which requires a rectified color image, but the thermal camera images are gray scale an i have a imagerect instead of imagerectcolor. can I remap the image as imagerect_color or should i convert my gray scale image to a color image using cv::colormap().

System details:

ROS version :Indigo

Ubuntu 14.04 running on odroid

Any help regarding this is appreciated

Thanks

Akshay