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README.md

camera_info_manager_metadata_extractor

Extractor of image and movie metadata with camera_info_manager_lib backend.

See movie_publisher for more details.

Camera info

To find corresponding camera info, calibration URLs must be provided to the extractor via ROS parameter.

  • ~calibration_urls (string[], optional): Calibration URLs this extractor searches in order to find camera info.

Each URL can contain several substitution keywords:

  • ${NAME} resolved to the current camera name defined by the device driver.
  • ${ROS_HOME} resolved to the $ROS_HOME environment variable if defined, or ~/.ros if not.
  • ${FOCAL_LENGTH} resolved to the focal length of the camera. By default, the focal length is formatted by string %0.01fmm, but it can be changed by specifying another format string, e.g. ${FOCAL_LENGTH:%0.04f_mm}.

If ~calibration_urls is not specified, the following URLs are used:

  • file://${ROS_HOME}/camera_info/${NAME}.yaml
  • file://${ROS_HOME}/camera_info/${NAME}-${FOCAL_LENGTH:%0.01fmm}.yaml