NAME

mrcal-from-ros - Converts a ROS/OpenCV-formatted camera model to the .cameramodel file format

SYNOPSIS

$ mrcal-from-ros model1.yaml model2.yaml
Wrote model1.cameramodel
Wrote model2.cameramodel

$ rostopic echo -n1 -b tst.bag /camera/camera_info \
  | head -n -1                                     \
  | mrcal-from-ros                                 \
  > model.cameramodel

DESCRIPTION

File formats supported by mrcal are described at http://mrcal.secretsauce.net/cameramodels.html#cameramodel-file-formats

This tool converts the given model(s) to the cameramodel file format. No changes to the content are made; this is purely a format converter (the mrcal-convert-lensmodel tool fits different lens models instead). Model filenames are given on the commandline. Output is written to the same directory, with the same filename, but with a .cameramodel extension.

If the model is omitted or given as "-", the input is read from standard input, and the output is written to standard output.

Note: there's no corresponding mrcal-to-ros tool at this time, because the behavior of such a tool isn't well-defined. Talk to me if this would be useful to you, to clarify what it should do, exactly.

OPTIONS

POSITIONAL ARGUMENTS

model            Input camera model

OPTIONAL ARGUMENTS

-h, --help       show this help message and exit
--force, -f      By default existing files are not overwritten. Pass --force
                 to overwrite them without complaint
--outdir OUTDIR  Directory to write the output models into. If omitted, we
                 write the output models to the same directory as the input
                 models

REPOSITORY

https://www.github.com/dkogan/mrcal

AUTHOR

Dima Kogan, <dima@secretsauce.net>

LICENSE AND COPYRIGHT

Copyright (c) 2017-2023 California Institute of Technology ("Caltech"). U.S. Government sponsorship acknowledged. All rights reserved.

Licensed under the Apache License, Version 2.0 (the "License"); You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0