diff --git a/include/image_undistort/camera_parameters.h b/include/image_undistort/camera_parameters.h
index 2a77b8e..5a09ec6 100644
--- a/include/image_undistort/camera_parameters.h
+++ b/include/image_undistort/camera_parameters.h
@@ -172,7 +172,7 @@ class CameraParametersPair {
 // rectified images
 class StereoCameraParameters {
  public:
-  StereoCameraParameters(const double scale = 1.0);
+  StereoCameraParameters(const double scale = 1.0, const bool match_input = false);
 
   bool setInputCameraParameters(const ros::NodeHandle& nh,
                                 const std::string& camera_namespace,
@@ -198,9 +198,10 @@ class StereoCameraParameters {
   bool valid(const CameraSide& side, const CameraIO& io) const;
 
  private:
-  bool generateRectificationParameters();
+  bool generateRectificationParameters(void);
 
   double scale_;
+  double match_input_;
   CameraParametersPair first_;
   CameraParametersPair second_;
 };
diff --git a/include/image_undistort/stereo_undistort.h b/include/image_undistort/stereo_undistort.h
index 7efa8ce..60508cc 100644
--- a/include/image_undistort/stereo_undistort.h
+++ b/include/image_undistort/stereo_undistort.h
@@ -28,6 +28,14 @@ constexpr int kQueueSize = 10;
 // true to load input cam_info from ros parameters, false to get it from a
 // cam_info topic
 constexpr bool kDefaultInputCameraInfoFromROSParams = true;
+// source of output camera information, the options are as follows-
+//  "auto_generated": (default), automatically generated based on the input, the
+//    focal length is the average of fx and fy of the input, the center point is
+//    in the center of the image, R=I and only x-translation is preserved.
+//    Resolution is set to the largest area that contains no empty pixels. The
+//    size of the output can also be modified with the "scale" parameter
+//  "match_input": intrinsic values are taken from the input camera parameters
+const std::string kDefaultOutputCameraInfoSource = "auto_generated";
 // namespace to use when loading first camera parameters from ros params
 const std::string kDefaultFirstCameraNamespace = "first_camera";
 // namespace to use when loading second camera parameters from ros params
@@ -124,6 +132,11 @@ class StereoUndistort {
   // camera parameters
   std::shared_ptr<StereoCameraParameters> stereo_camera_parameters_ptr_;
 
+  enum class OutputInfoSource {
+    AUTO_GENERATED,
+    MATCH_INPUT,
+  };
+
   // undistorters
   std::shared_ptr<Undistorter> first_undistorter_ptr_;
   std::shared_ptr<Undistorter> second_undistorter_ptr_;
@@ -133,6 +146,7 @@ class StereoUndistort {
   int queue_size_;
   int process_every_nth_frame_;
   std::string output_image_type_;
+  OutputInfoSource output_camera_info_source_;
   bool publish_tf_;
   std::string first_output_frame_;
   std::string second_output_frame_;
diff --git a/src/camera_parameters.cpp b/src/camera_parameters.cpp
index 2d57795..d555f01 100644
--- a/src/camera_parameters.cpp
+++ b/src/camera_parameters.cpp
@@ -545,8 +545,8 @@ bool CameraParametersPair::operator!=(const CameraParametersPair& B) const {
   return !(*this == B);
 }
 
-StereoCameraParameters::StereoCameraParameters(const double scale)
-    : scale_(scale){};
+StereoCameraParameters::StereoCameraParameters(const double scale, const bool match_input)
+    : scale_(scale), match_input_(match_input){};
 
 bool StereoCameraParameters::setInputCameraParameters(
     const ros::NodeHandle& nh, const std::string& camera_namespace,
@@ -628,7 +628,7 @@ bool StereoCameraParameters::valid(const CameraSide& side,
   }
 }
 
-bool StereoCameraParameters::generateRectificationParameters() {
+bool StereoCameraParameters::generateRectificationParameters(void) {
   if (first_.getInputPtr()->p().isApprox(second_.getInputPtr()->p())) {
     ROS_ERROR(
         "Stereo rectification cannot be performed on cameras with a baseline "
@@ -661,11 +661,21 @@ bool StereoCameraParameters::generateRectificationParameters() {
       T.inverse() * second_.getInputPtr()->T(), second_.getInputPtr()->K(),
       second_.getInputPtr()->D(), second_.getInputPtr()->distortionModel());
 
-  // set individual outputs
-  if (!first_.setOptimalOutputCameraParameters(scale_) ||
-      !second_.setOptimalOutputCameraParameters(scale_)) {
-    ROS_ERROR("Automatic generation of stereo output parameters failed");
-    return false;
+
+  if (match_input_) {
+    if (!first_.setOutputFromInput(scale_) ||
+        !second_.setOutputFromInput(scale_)) {
+      ROS_ERROR("Automatic generation of stereo output parameters failed");
+      return false;
+    }
+  }
+  else {
+    // set individual outputs
+    if (!first_.setOptimalOutputCameraParameters(scale_) ||
+        !second_.setOptimalOutputCameraParameters(scale_)) {
+      ROS_ERROR("Automatic generation of stereo output parameters failed");
+      return false;
+    }
   }
 
   // grab most conservative values
@@ -701,4 +711,4 @@ const CameraParametersPair& StereoCameraParameters::getFirst() const {
 const CameraParametersPair& StereoCameraParameters::getSecond() const {
   return second_;
 }
-}  // namespace image_undistort
\ No newline at end of file
+}  // namespace image_undistort
diff --git a/src/stereo_undistort.cpp b/src/stereo_undistort.cpp
index 141b1f9..651ce96 100644
--- a/src/stereo_undistort.cpp
+++ b/src/stereo_undistort.cpp
@@ -33,6 +33,20 @@ StereoUndistort::StereoUndistort(const ros::NodeHandle& nh,
   nh_private_.param("rename_radtan_plumb_bob", rename_radtan_plumb_bob_,
                     kDefaultRenameRadtanPlumbBob);
 
+  std::string output_camera_info_source_in;
+  nh_private_.param("output_camera_info_source", output_camera_info_source_in,
+                    kDefaultOutputCameraInfoSource);
+  if (output_camera_info_source_in == "auto_generated") {
+    output_camera_info_source_ = OutputInfoSource::AUTO_GENERATED;
+  } else if (output_camera_info_source_in == "match_input") {
+    output_camera_info_source_ = OutputInfoSource::MATCH_INPUT;
+  } else {
+    ROS_ERROR(
+        "Invalid camera source given, valid options are auto_generated, "
+        "match_input. Defaulting to auto_generated");
+    output_camera_info_source_ = OutputInfoSource::AUTO_GENERATED;
+  }
+
   bool invert_T;
   nh_private_.param("invert_T", invert_T, kDefaultInvertT);
 
@@ -46,7 +60,7 @@ StereoUndistort::StereoUndistort(const ros::NodeHandle& nh,
   nh_private_.param("scale", scale, kDefaultScale);
 
   stereo_camera_parameters_ptr_ =
-      std::make_shared<StereoCameraParameters>(scale);
+      std::make_shared<StereoCameraParameters>(scale, (output_camera_info_source_ == OutputInfoSource::MATCH_INPUT));
 
   nh_private_.param("process_every_nth_frame", process_every_nth_frame_,
                     kDefaultProcessEveryNthFrame);