Hi,

I am currently trying to use the Object Recognition Kitchen for detecting an object. However, I am using stereo cameras + stereoimageproc, and not the standard kinect.

In the tabletop detection pipline tutorial, the configuration file requires

1. A registered (with RGB) depth image topic and
   
2. depth registered camera info.

For 1) I have seen this. but does someone know how to do 2) , ie, obtain the camerainfo for depth registered image ? I have also seen the depthimageproc package but it doesn't seem to provide anything for this. Is that simply the camerainfo for the particular camera (left camera in case of stereo cameras ?) that represents the camera coordinate frame ?

Thanks!