message: pointcloud_to_depthimage: republish camera_info in output image namespace
diff: @@ -123,7 +123,8 @@ private:
  depthImage16Pub_ = it.advertise("image_raw", 1); // 16 bits unsigned in mm
  depthImage32Pub_ = it.advertise("image", 1); // 32 bits float in meters
  pointCloudTransformedPub_ = nh.advertise<sensor_msgs::PointCloud2>(nh.resolveName("cloud")+"_transformed", 1);
  - cameraInfoPub_ = nh.advertise<sensor_msgs::PointCloud2>(nh.resolveName("camera_info")+"_depth", 1);
  + cameraInfo16Pub_ = nh.advertise<sensor_msgs::CameraInfo>(nh.resolveName("image_raw")+"/camera_info", 1);
  + cameraInfo32Pub_ = nh.advertise<sensor_msgs::CameraInfo>(nh.resolveName("image")+"/camera_info", 1);
  if(approx)
  {
  @@ -242,6 +243,10 @@ private:
  {
  depthImage.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
  depthImage32Pub_.publish(depthImage.toImageMsg());
  + if(cameraInfo32Pub_.getNumSubscribers())
  + {
  + cameraInfo32Pub_.publish(cameraInfoMsgOut);
  + }
  }
  if(depthImage16Pub_.getNumSubscribers())
  @@ -249,6 +254,10 @@ private:
  depthImage.encoding = sensor_msgs::image_encodings::TYPE_16UC1;
  depthImage.image = rtabmap::util2d::cvtDepthFromFloat(depthImage.image);
  depthImage16Pub_.publish(depthImage.toImageMsg());
  + if(cameraInfo16Pub_.getNumSubscribers())
  + {
  + cameraInfo16Pub_.publish(cameraInfoMsgOut);
  + }
  }
  if( cloudStamp != pointCloud2Msg->header.stamp.toSec() ||
  @@ -261,18 +270,14 @@ private:
  cloudStamp, pointCloud2Msg->header.stamp.toSec(),
  infoStamp, cameraInfoMsg->header.stamp.toSec());
  }
  -
  - if(cameraInfoPub_.getNumSubscribers())
  - {
  - rtabmap_ros::cameraModelToROS(model, cameraInfoMsgOut);
  - }
  }
  }
  private:
  image_transport::Publisher depthImage16Pub_;
  image_transport::Publisher depthImage32Pub_;
  - ros::Publisher cameraInfoPub_;
  + ros::Publisher cameraInfo16Pub_;
  + ros::Publisher cameraInfo32Pub_;
  ros::Publisher pointCloudTransformedPub_;
  message_filters::Subscriber<sensor_msgs::PointCloud2> pointCloudSub_;
  message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
  