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Hello,

i think it is the easiest way to do it manually. Split the .txt file. One for your right and one for your left camera. After that use the camera_calibration_parsers link text to convert them to .yml files. The .yml files can be used to set up your camera_info msg. For example: The package usb_cam uses the parameter camera_info_url to set up the path to the .yml file. You can edit the parameters in a launch file.

Hope this helps.