Tabletop works only when it has the Pointcloud and the rgb images

[hris2003]

When testing tabletop with my 3D Camera that publishes only the pointcloud image, not the color image, tabletop seems to wait forever. I think the tabletop should work perfectly only with the pointcloud image.

[corot]

👍 Extra anoying is that it stamps the detected objects and tables with the RGB image's frame, what in my case displace the objects 1.6 cm to the left. I commented this in the ORK group.

[corot]

Again, I have noticed that the detector uses the intrinsic parameters matrix K from the RGB image instead of those from the depth image (see here and here).