Jack, here is the page reference for a technical description of the 
CameraInfo message, with a complete description of the parameters.  This 
is what the yaml/ini files should refer to.

http://www.ros.org/wiki/image_pipeline/CameraInfo

Cheers --Kurt

On 5/25/2010 7:31 PM, Jack O'Quin wrote:
> On Tue, May 25, 2010 at 8:40 PM, Kurt Konolige
> <konolige@willowgarage.com>  wrote:
>> Yes, I saw these.  They don't exactly explain what's going on.  I
>> guess this page will be useful with a bit more information, and I'll
>> try to get to that.
>
> Yes, the math for the calibration matrices is rather spread around in
> the docs. There is some good information, but it's hard to find
> sometimes. The CameraInfo message itself has some useful hints:
>
>   http://www.ros.org/doc/api/sensor_msgs/html/msg/CameraInfo.html