Version 2.5

NAME

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

SYNOPSIS

$ cat model1.yaml

image_width: 2448
image_height: 2050
camera_name: prosilica
camera_matrix:
  rows: 3
  cols: 3
  data: [4827.94, 0, 1223.5, 0, 4835.62, 1024.5, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.41527, 0.31874, -0.00197, 0.00071, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [4827.94, 0, 1223.5, 0, 0, 4835.62, 1024.5, 0, 0, 0, 1, 0]

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

Wrote model1.cameramodel
Wrote model2.cameramodel

$ cat model1.cameramodel

{
    'lensmodel':  'LENSMODEL_OPENCV5',

    # intrinsics are fx,fy,cx,cy,distortion0,distortion1,....
    'intrinsics': [ 4827.94, 4835.62, 1223.5, 1024.5, -0.41527, 0.31874, -0.00197, 0.00071, 0,],

    'rt_cam_ref': [ 0, 0, 0, 0, 0, 0,],
    'extrinsics': [ 0, 0, 0, 0, 0, 0,], # for compatibility with mrcal < 2.5

    'imagersize': [ 2448, 2050,],
}

$ 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 https://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

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