VRX has problems with .../camera_info #848
Description
Hi,
Recently, I was digging into Rviz2 with your WAM-V and noticed a very strange thing: the camera topic is publishing camera_info (and optical/camera_info) incorrectly. I've been trying to figure it out, but I'm out of ideas...
As far as I understand, the problem is in the _msg that publishes camera_info. It contains information about the K D and P matrices.
The whole problem is in the projection matrix: its 4th element for mono cameras should be zero, but it is not((.... This element must be non-zero for the stereo pair only. The two front cameras are stereo, but why does Gazebo consider the side-right camera to be part of this stereo pair?
I have managed to solve this problem partially by hardcoding: I simply set the 4th and 7th elements of the P matrix (which are Tx and Ty) to zero in the optical_frame_publisher, but I am not satisfied with this solution.
In other words, the greater the absolute value of Tx or Ty, the more the camera_info frame is distorted.
Is there a way to explicitly indicate that the right-hand camera is NOT part of a stereo pair, but rather a mono camera, to avoid unnecessary transformations in the camera_info matrices?
Thank you!