Borong Yuan

Any plan for this? It should be possible to create a custom blob and use the new Cast node. But if you can add this to ImageManip node, I'll now...

If we use disparityWidth of 96 and subpixelFractionalBits of 4, the max disparity should be 1520. This colorization method provides 1529 discrete levels. So there should be no quantization error,...

Another solution is to use the [RVL](https://www.microsoft.com/en-us/research/publication/fast-lossless-depth-image-compression/) depth image compression algorithm. [RVL codec](https://github.com/ros-perception/image_transport_plugins/blob/jazzy/compressed_depth_image_transport/src/rvl_codec.cpp) has been added to ROS since Noetic/Jazzy. We are also considering adding it to RTAB-Map.

Hi @diablodale, After testing, I found that the self-calibration of BNO086 is already enabled. I'll provide specific instructions later.