Correct way to publish stereo camera information?
Hi all,
I'm writing the driver for the StereoLabs ZED stereo camera ( www.stereolabs.com ).
I have a doubt: the StereoLabs SDK API provides automatically Disparity Map and Depth Map, so I would like to publish them directly. Which is the correct way to add camera information to "sensor_msgs::CameraInfo"?
From the SDK I have Intrinsic Matrix and Distortion parameters for both left and right cameras, the baseline and the convergence angle. Must I calculate the R Matrix and the P Matrix or is it not necessary?
Thank you in advance for help
Walter