Convert range image to point cloud

To my acknowledge in order to convert a range image to point cloud the camera info is need.
I tried to found the camera info on the services but i did not found anything.
How can i retrieve the camera info ?
If that it is not possible, how can i create a point cloud ?


Thanks in Advance

To my acknowledge in order to convert a range image to point cloud the camera info is need.
I tried to found the camera info on the services but i did not found anything.
How can i retrieve the camera info ?
If that it is not possible, how can i create a point cloud ?

If you require the camera info message to create a point cloud from the depth camera image you will need to publish it. You can find the necessary parameters from which you can instantiate the camera info message in the technical annex, Section 2.3.

Best,
Peter