Dense stereo depth publisher#7
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I've looked at the demos mentioned in #6 and while the dumped intrinsics weren't useful, the depth image to PLY exporter was a working example on how to turn it into a pointcloud, so here's an implemented publisher for it.
Haven't tested it much yet, but it seems to align at first glance. I've swapped the nonexisting
camera_depth_optical_frameforcamera_left, I suggest changing that back if anyone ever figures out where that link is supposed to be.