Can i make the ros2 wrapper publish custom extrinsics for the zed x one as a mono camera also? Right now it only publishes intrinsics of course, but can i add to the config or give a opencv calibration so it also will publish extrinsics of the camera to the cam info topic?
Hi @J
The ROS 2 Wrapper is open source; you can modify it as you prefer.
Please note that the CameraInfo topic does not contain extrinsic information:
Normally, with “extrinsic information”, we refer to the camera position and orientation with respect to a reference frame, and this information is added to the URDF.