ROS
libtorch 1.7 # e.g. wget https://download.pytorch.org/libtorch/cu102/libtorch-cxx11-abi-shared-with-deps-1.7.0.zip
expects ImageTransport mono8 stereo frame on /stereo/image
source /opt/ros/noetic/setup.bash
mkdir build
cd build
cmake -DCMAKE_PREFIX_PATH=path/to/libtorch1.7 ..
make
# roscore
./depth_camera_node
publishes left rectified rgb to /left/image_rect_color/
publishes right rectified rgb to /right/image_rect_color/
publishes depth to /depth/image_rect