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rtabmap depth_registration ?

I am using rtabmap. rtabmap requires depth/image (sensor_msgs/Image). Does it need a rectified registered depth image or just the raw registered depth image?

I am guessing the registered depth image need to be in meters.

rtabmap depth_registration ?

I am using rtabmap. rtabmap requires depth/image (sensor_msgs/Image). Does it need a rectified registered depth image or just the raw registered depth image?

I am guessing the registered depth image need needs to be in meters.