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Camera_info for a camera publishing already rectified images

I have a camera which gives me images which are already rectified. I'm writing the ROS driver for it and I'm wondering what I should do with the camera_info message. Should I :

  • Calibrate the camera and publish the intrinsic parameters in the camera_info message
  • Calibrate the camera and publish the projection matrix but set the distortion parameters to 0
  • Not calibration and set all the camera_info parameters to 0

For the record, I do not have access to the prerectified image, only the final result.