CameraInfo

[carlosmccosta]

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:
carlosmccosta@6738ce7
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.