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This node belongs to the PTAM package of the ETHZASL_PTAM stack. It is a tool to calibrate the intrinsic camera parameters of a camera with a wide angle lens.


The node is unchanged with respect to the original code - except the ROS compatibility. You should have a re-projection error of below 0.5. If you have problems calibrating your camera, please have a look at this page.

After successful calibration you obtain the fix PTAM paramters Cam_fx, Cam_fy, Cam_cx, Cam_cy, Cam_s which should be placed in the fix parameter file called by the PTAM node.

Node Information


node to calibrate the intrinsic camera parameters

Subscribed Topics

image (sensor_msgs/Image)

2019-12-07 12:59