Adding Camera Intrinsic Parameters to the ROS Bag on \tf Topic

[iamsiddhantsahu]

@clynamen @ChernoA I played the ROS bag file in loop with robag play -l 61.bag and then rotopic echo /tf. Please find below for camera_front/raw.

I wanted to read the camera intrinsic parameters as well in a program, but I unable to find this data in the in the /tf topic. Hence, I was wondering if the camera intrinsic parameters defined in the calibrated_sensor.json in the nuScenes dataset could also be published in the /tf topic?

[iamsiddhantsahu]

@clynamen @ChernoA Can the "token" information also be added in the rosbag file?

[jingyibo123]

Normally camera intrinsics information is stored in sensor_msgs/CameraInfo message,

see #12

[LiuXuan66]

@clynamen @ChernoA Can the "token" information also be added in the rosbag file?

Do you solve the problem?