---
name: "mrcal-from-ros"
section: "1"
platform: "linux"
package: "mrcal"
version: "2.4.1-4+b2"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/mrcal-from-ros"
---

# mrcal-from-ros(1)

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

## 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
```