diff --git a/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp b/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp
index cc33cec5..a2ecbd99 100644
--- a/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp
+++ b/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp
@@ -652,6 +652,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet
   bool mCameraSelfCalib;
   bool mIsStatic = false;
   double mPosTrkMinDepth = 0.0;
+  std::string mOptionalOpencvCalibrationFile;
 
   // Flags
   bool mGrabActive = false;  // Indicate if camera grabbing is active (at least one topic subscribed)
diff --git a/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp b/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
index 5492de5e..576a8a6d 100644
--- a/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
+++ b/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
@@ -268,6 +268,8 @@ void ZEDWrapperNodelet::onInit()
   mZedParams.open_timeout_sec = 10.0f;
 
   mZedParams.enable_image_enhancement = true;  // Always active
+  sl::String optional_opencv_calibration_file(mOptionalOpencvCalibrationFile.c_str());
+  mZedParams.optional_opencv_calibration_file = optional_opencv_calibration_file; 
 
   mDiagUpdater.add("ZED Diagnostic", this, &ZEDWrapperNodelet::callback_updateDiagnostic);
   mDiagUpdater.setHardwareID("ZED camera");
@@ -877,6 +879,9 @@ void ZEDWrapperNodelet::readGeneralParams()
   NODELET_INFO_STREAM(" * Camera Flip\t\t\t-> " << sl::toString(mCameraFlip).c_str());
   mNhNs.getParam("general/self_calib", mCameraSelfCalib);
   NODELET_INFO_STREAM(" * Self calibration\t\t-> " << (mCameraSelfCalib ? "ENABLED" : "DISABLED"));
+  
+  mNhNs.getParam("general/optional_opencv_calibration_file", mOptionalOpencvCalibrationFile);
+  NODELET_INFO_STREAM(" * Calibration File\t\t-> " << mOptionalOpencvCalibrationFile);
 
   int tmp_sn = 0;
   mNhNs.getParam("general/serial_number", tmp_sn);
diff --git a/zed_wrapper/launch/include/zed_camera.launch.xml b/zed_wrapper/launch/include/zed_camera.launch.xml
index 9a50e661..d70b0e08 100644
--- a/zed_wrapper/launch/include/zed_camera.launch.xml
+++ b/zed_wrapper/launch/include/zed_camera.launch.xml
@@ -46,6 +46,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <arg name="cam_pitch"             default="0.0" />
     <arg name="cam_yaw"               default="0.0" />
 
+    <!-- Calibration -->
+    <arg name="self_calib"            default="true" />
+    <arg name="optional_opencv_calibration_file"            default="" /><!-- <arg name="optional_opencv_calibration_file" default="path/to/opencv/file.yaml"> -->
+      
+    <!-- Depth -->
+    <arg name="min_depth"             default="0.3" />
+    <arg name="max_depth"             default="15.0" />
+
     <!-- ROS URDF description of the ZED -->
     <group if="$(arg publish_urdf)">
         <param name="$(arg camera_name)_description"
@@ -87,5 +95,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
         <!-- GPU ID -->
         <param name="general/gpu_id"                    value="$(arg gpu_id)" />
+          
+        <!-- Calibration -->
+        <param name="general/self_calib"                value="$(arg self_calib)" />
+        <param name="general/optional_opencv_calibration_file"                value="$(arg optional_opencv_calibration_file)" />
+          
+        <!-- Depth -->
+        <param name="depth/min_depth"                   value="$(arg min_depth)" />
+        <param name="depth/max_depth"                   value="$(arg max_depth)" />
     </node>
 </launch>
diff --git a/zed_wrapper/launch/zedxm.launch b/zed_wrapper/launch/zedxm.launch
index adcc9e63..9f783649 100644
--- a/zed_wrapper/launch/zedxm.launch
+++ b/zed_wrapper/launch/zedxm.launch
@@ -35,6 +35,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <arg name="cam_roll"              default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
     <arg name="cam_pitch"             default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
     <arg name="cam_yaw"               default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
+    
+    <arg name="self_calib"            default="true" />
+    <arg name="optional_opencv_calibration_file"             default="" /> <!-- <arg name="optional_opencv_calibration_file" default="path/to/opencv/file.yaml"> -->
+    <arg name="min_depth"             default="0.1" />
+    <arg name="max_depth"             default="15.0" />
 
     <group ns="$(arg camera_name)">
         <include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
@@ -52,6 +57,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
             <arg name="cam_roll"            value="$(arg cam_roll)" />
             <arg name="cam_pitch"           value="$(arg cam_pitch)" />
             <arg name="cam_yaw"             value="$(arg cam_yaw)" />
+            <arg name="self_calib"          value="$(arg self_calib)" />
+            <arg name="optional_opencv_calibration_file"             value="$(arg optional_opencv_calibration_file)" />
+            <arg name="min_depth"           value="$(arg min_depth)" />
+            <arg name="max_depth"           value="$(arg max_depth)" />
         </include>
     </group>
 </launch>
diff --git a/zed_wrapper/params/common.yaml b/zed_wrapper/params/common.yaml
index ad73a711..0f0802ca 100644
--- a/zed_wrapper/params/common.yaml
+++ b/zed_wrapper/params/common.yaml
@@ -36,6 +36,7 @@ general:
     #region_of_interest:        '[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
     #region_of_interest:        '[[0.25,0.25],[0.75,0.25],[0.75,0.75],[0.25,0.75]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
     #region_of_interest:        '[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
+    optional_opencv_calibration_file: ''
 
 #video: