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