Hi there,

I'm trying to calibrate a Intel Realsense ZR300 camera over ROS with the realsense_camera package.

I'm using the standard rgbd nodelet to publish the camera image topics. There are the imageraw streams of every camera. However, i would like to use the rectified images (e.g. /camera/ir/imagerect), which seem to be published via the imageproc package (http://wiki.ros.org/imageproc). They use the raw images and the camera_info messages to eliminate distortion etc.

I managed to obtain optimal matrizes K, D, P, R for my camera via OpenCV, which are more precise that the factory presetted matrizes. My question is how can I update the camera with my new values. There is a ROS service called SetCameraInfo in the package sensormsgs (http://wiki.ros.org/sensormsgs) but it seems that the nodelet does not publish any useful services for that. I could also find no config file with the default matrizes which I could change at nodelet start.

Maybe I can set it somehow with this nodelet:http://wiki.ros.org/camera_info_manager?

Since the ros package depends on librealsense, I've also looked in this direction and found this issue at github: https://github.com/IntelRealSense/librealsense/issues/463#issuecomment-320851127. It's written there that you cannot change the intrisic parameters with librealsense. Is this also valid for the ros wrapper? I'm a little bit confused with all the different packages involved...

Any help is appreciated! I guess it is the same for Realsense ZR/SR/F/R camera, since they all depend on the same ROS package. If you need more information, just tell me.

Thanks a lot.