Most if not all of ROS nodes that perform computer vision on images require the intrinsic parameters of the camera (for example, for performing the extrinsic calibration of PhotoNeo on a robot arm, using the charuco_detector and easy_handeye).
In ROS, this is usually done using CameraInfo.
Also, it would be ideal if the intrinsic parameters were retrieved directly from the sensor, instead of using a yaml file.
I normally use the application provided here to retrieve them, but it should be improved for retrieving the parameters with more floating point decimal places.
Most if not all of ROS nodes that perform computer vision on images require the intrinsic parameters of the camera (for example, for performing the extrinsic calibration of PhotoNeo on a robot arm, using the charuco_detector and easy_handeye). In ROS, this is usually done using CameraInfo.
I have already implement this feature in my fork. Please take a look at this commit: https://github.com/carlosmccosta/phoxi_camera/commit/6738ce712f09ab6c1f287d290722bf18ccb666bb And consider adding this feature to the phoxi_camera driver.
Also, it would be ideal if the intrinsic parameters were retrieved directly from the sensor, instead of using a yaml file. I normally use the application provided here to retrieve them, but it should be improved for retrieving the parameters with more floating point decimal places.