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Overview

camera_calibration_parsers contains C++ functions for reading and writing camera parameters. These are mainly used internally by camera drivers and camera calibration tools, but the formats are human-readable.

For usage, see the code API.

Command-line tools

convert

This utility converts between calibration file formats.

Usage

$ rosrun  camera_calibration_parsers convert  in-file out-file

Example

yml to ini

$ rosrun  camera_calibration_parsers convert  cal.yml cal.ini

ost.txt to yml

(ost.txt file is in the calibrationdata.tar.gz file saved during the calibraton process)

$ mv ost.txt ost.ini
$ rosrun  camera_calibration_parsers convert  ost.ini cal.yml

File formats

Videre INI

This is the INI format used by Videre cameras to store calibration parameters internally. We are using it as our preferred format for storing calibration on camera flash memory (not only Videre cameras).

Example:

# Prosilica camera intrinsics

[image]

width
2448

height
2050

[prosilica]

camera matrix
4827.93789 0.00000 1223.50000
0.00000 4835.62362 1024.50000
0.00000 0.00000 1.00000

distortion
-0.41527 0.31874 -0.00197 0.00071 0.00000

rectification
1.00000 0.00000 0.00000
0.00000 1.00000 0.00000
0.00000 0.00000 1.00000

projection
4827.93789 0.00000 1223.50000 0.00000
0.00000 4835.62362 1024.50000 0.00000
0.00000 0.00000 1.00000 0.00000

YAML

The YAML output is based on that used by the OpenCV calibration program.

Example:

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]