Hello, I am running zed_wrapper 4.0.7 zedMini ros2-foxy on jetson orin dev.

I am trying to get xyz of edge images. I subscribe to raw left rgb image and depth registered. filter my raw image and get the edges. then i find the depth of the pixel from my uv. now i need to calculate the xyz of it.

As i understand i need to perform an equation where

z = d(u,v)

x = d(u,v) * (u-c(x))/f(x))

y = d(u,v) * (v-c(y))/f(y))

found these equations on another topic on stereolabs github.

now how do i get the c and f ? i know they are focal length and princepal center and they are the camera calibration parameters.

How do i retrieve them? during runtime?

I say that the camera publishes camera _info on different topics. (depth,left.right …) they hold d k r p parameters but i dont know what are they?.

where can i find documentation on topic parameters being published?

Thanks!