Why does stereo_image_proc use nodelets?

asked 2017-02-13 09:36:07 -0500

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image_proc and stereo_image_proc both use nodelets in their design for each of the individual processing steps that they're doing (rectification, disparity, stereo etc.).

What are the advantages of doing it this way? Also, how is stereo_image_proc able to use the image_rect output if it is being made by another nodelet?

Thank you.

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