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Parameters (dynamic or not) can be loaded from a file in roslaunch: http://wiki.ros.org/roslaunch/XML/rosparam

Camera calibration and intrinsics are separate. The intrinsics are stored in a configurable folder. This is purely used to dewarp the image using nodes like image_proc and others. This file is auto-generated with a calibration procedure involving a checkerboard.

See http://wiki.ros.org/ueye#Camera_Calibration