NAME

       mrcal-to-kalibr - Converts cameramodel(s) to the file format used by kalibr

SYNOPSIS

         $ mrcal-to-kalibr model1.cameramodel model2.cameramodel > model.yaml

         [model.yaml is now a kalibr model describing the two cameras]

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 .yaml format used by kalibr. No changes to
       the content are made; this is purely a format converter (the mrcal-convert-lensmodel tool
       fits different lens models instead).

       Unlike mrcal .cameramodel files where one camera is described by one file, the .yaml files
       used by kalibr are intended to describe multiple cameras. This format conversion tool will
       write out a single kalibr .yaml model containing ALL the given models. The names of the
       models in the kalibr data will be "cam0", "cam1", ...

       Since we always write out one kalibr model and since we don't know what it should be
       called, the output of this tool always goes to standard output.

       If the model is omitted or given as "-", the input is read from standard input, and only
       the one input model is processed.

       By default we set the extrinsics of camera-0 as they appear in the input: the reference
       coordinate system is set to the previous" camera from camera-0. If we want to force
       camera-0 to have an identity transform, pass --cam0-at-reference.

       The kalibr format is described at <https://github.com/ethz-asl/kalibr/wiki/Yaml-formats>

       At this time we only support

         - LENSMODEL_PINHOLE
         - LENSMODEL_OPENCV4
         - LENSMODEL_CAHVOR  (experimental)
         - LENSMODEL_CAHVORE (experimental)

       which corresponds to

         camera_model == 'pinhole' and distortion_model in ('radtan','none')

OPTIONS

   POSITIONAL ARGUMENTS
         model                Input camera model

   OPTIONAL ARGUMENTS
         -h, --help           show this help message and exit
         --cam0-at-reference  By default we set the extrinsics of camera-0 as they
                              appear in the input. If we want to force camera-0 to
                              have an identity transform, pass --cam0-at-reference.
                              Usually this will be the case anyway in the input data,
                              but this option makes sure

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