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Text Elements

infra1/image_rect_raw_mono

realsense2_camera

image_format _node_left

infra1/image_rect_raw

image_resize_left

image_resize_right

640x360

580x288

580x288

infra1/image_rect_raw_resize

Format Converter

Image Resizer

Camera (Raw Input)

infra2/image_rect_raw_mono

image_format _node_right

infra2/image_rect_raw

infra1/camera_info

infra2/camera_info

infra1/camera_info_resize

infra2/image_rect_raw_resize

infra2/camera_info_resize

disparity

580x288

ESS Disparity

/disparity

pointcloud_node

infra1/image_rect_raw_resize

Disparity to PointCloud

infra1/camera_info_resize

infra2/camera_info_resize

<= 580x288

Camera to LaserScan Pipeline

Optical to Canonical Transform

PointCloud to FlatSCan

FlatScan to LaserScan