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)
  • image to be processed by the node

Wiki: ptam/cameracalibrator (last edited 2012-05-14 19:20:13 by stephanweiss)