camera_info_manager_lib

An alternative to camera_info_manager that provides only the C++ API and not the ROS API (service etc.).

C++ API

The interface is mostly same as the original CameraInfoManager. This package adds the possibility to dynamically specify focal length and resolve it as a part of the URL.

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}.

Example Usage

 {c++}
camera_info_manager_lib::CameraInfoManager manager(log, "test", "package://my_package/calibrations/${NAME}.yaml");
if (manager.isCalibrated())
  return manager.getCameraInfo();