1.57 1280 720 0.1 100 gaussian 0.0 0.100 1 30 0 1.57 1280 720 RGB_INT8 0.1 100 gaussian 0.0 0.007 1 30 1 1.57 1280 720 L_INT8 0.1 100 gaussian 0.0 0.05 1 1 0 1.57 1280 720 L_INT8 0.1 100 gaussian 0.0 0.05 1 1 0 camera 30.0 30.0 1.0 aligned_depth_to_color/image_raw depth/camera_info color/image_raw color/camera_info infra1/image_raw infra1/camera_info infra2/image_raw infra2/camera_info camera_color_optical_frame camera_depth_optical_frame camera_left_ir_optical_frame camera_right_ir_optical_frame 0.3 3.0 true depth/color/points 0.3