diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 992fd31..444c80c 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -315,6 +315,13 @@ std::ostream &operator<<(std::ostream &os, const MotionIntrinsics &in);
 struct MYNTEYE_API Extrinsics {
   double rotation[3][3]; /**< rotation matrix */
   double translation[3]; /**< translation vector */
+
+  Extrinsics Inverse() const {
+    return {{{rotation[0][0], rotation[1][0], rotation[2][0]},
+             {rotation[0][1], rotation[1][1], rotation[2][1]},
+             {rotation[0][2], rotation[1][2], rotation[2][2]}},
+            {-translation[0], -translation[1], -translation[2]}};
+  }
 };
 
 MYNTEYE_API
diff --git a/src/device/device.cc b/src/device/device.cc
index 4ac51e2..b97dafe 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -164,8 +164,13 @@ Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
   try {
     return stream_from_extrinsics_.at(from).at(to);
   } catch (const std::out_of_range &e) {
-    LOG(WARNING) << "Extrinsics from " << from << " to " << to << " not found";
-    return {};
+    try {
+      return stream_from_extrinsics_.at(to).at(from).Inverse();
+    } catch (const std::out_of_range &e) {
+      LOG(WARNING) << "Extrinsics from " << from << " to " << to
+                   << " not found";
+      return {};
+    }
   }
 }
 
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index be2068a..1e06be9 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -426,12 +426,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     camera_info->P.at(11) = 0;
 
     if (stream == Stream::RIGHT) {
-      /*
       auto &&ex = api_->GetExtrinsics(stream, Stream::LEFT);
       camera_info->P.at(3) = ex.translation[0];
       camera_info->P.at(7) = ex.translation[1];
       camera_info->P.at(11) = ex.translation[2];
-      */
     }
 
     camera_info->distortion_model = "plumb_bob";