My MWE is,
\documentclass[a4paper,twoside,openright,11pt]{scrbook}
\usepackage[left=1.5cm,right=1cm,top=3cm,bottom=1.5cm,marginparwidth=5.5cm,marginparsep=1cm,outer=8cm]{geometry}
\usepackage[utf8]{inputenc}
\usepackage{caption}
\usepackage{ifoddpage}
\usepackage{tikz}
\usetikzlibrary{positioning}
\usepackage{calc}
\usepackage{showframe}
\newlength\fullwidth\fullwidth=\textwidth \advance\fullwidth by \marginparwidth
\advance\fullwidth by \marginparsep
\newlength\extraWd
\setlength\extraWd{\dimexpr\marginparwidth+\marginparsep\relax}
\begin{document}
\begin{figure}[h]
\captionsetup{margin={0cm,-\extraWd}}
\checkoddpage
\edef\side{\ifoddpage c\else l\fi}
\makebox[\fullwidth][\side]{%
\fbox{\includegraphics[keepaspectratio=false,width=6cm]{example-image-a}}
}%
\caption{In the previous paragraphs, we mentioned the word “charge”. However, we need to look at its meaning in more detail.}
\end{figure}
\newpage
\begin{figure}[h]
\captionsetup{margin={0cm,-\extraWd}}
\checkoddpage
\edef\side{\ifoddpage c\else l\fi}
\makebox[\fullwidth][\side]{%
\fbox{\includegraphics[keepaspectratio=false,width=6cm]{example-image-a}}
}%
\caption{In the previous paragraphs, we mentioned the word “charge”. However, we need to look at its meaning in more detail.}
\end{figure}
\end{document}
And no problem odd page output, exactly centering, {left space 10cm, right space 10cm}

But there is a problem even page. Not exactly centering. {left space 11cm, right space 9cm}

As a matter of fact, the image is 1 cm (\marginparwidth) left shifting. Or do centering of \fullwidth. I cannot do, a few days.
I am sure, easy for you but not for me. I didn't find duplicate another question. I found like its, don't working in full my code. Does anyone know how to fix it?
Related: Let caption float into margin



