rosrun pe_camerainfo_publsher pe_calibration_publisher.py _calibration_yaml:=/PATH/TO/ros.yaml _namespace:=NAMESPACE _input_topic:=IMAGE_TOPIC
i.e.
rosrun pe_camerainfo_publsher pe_calibration_publisher.py _calibration_yaml:=/home/data/calibration/camera1.yaml _namespace:=camera1 _input_topic:=image_raw
Fish Eye
rosrun pe_camerainfo_publsher pe_calibration_publisher.py _calibration_yaml:=/home/data/calibration/camera1.yaml _namespace:=camera1 _input_topic:=image_raw _fisheye:=True
For details check ROS docs
image_width: WIDTH
image_height: HEIGHT
camera_name: CAMERA_NAME
camera_matrix:
rows: 3
cols: 3
data: [ Fx, 0, CX,
0., Fy, CY,
0., 0., 1. ]
camera_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [D0, D1, D2, D3, D4, D5]
rectification_matrix:
rows: 3
cols: 3
data: [ 1., 0., 0.,
0., 1., 0.,
0., 0., 1.]
projection_matrix:
rows: 3
cols: 4
data: [ FxO, 0., CxO, 0. ,
0., FyO, CxO, 0. ,
0., 0., 1. , 0. ]