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I implemented some tooling for reading ocamlib calibration files and generating rectified images from fisheye cams as part of our DRC participation here: vigir_wide_angle_image_proc. The rectify nodelet is also capable of simulating a pinhole camera with two (yaw, pitch) joints and generating appropriate camera_info and joint_states.

That being said, nowadays I'd recommend using the excellent kalibr calibration toolbox which can jointly calibrate multiple cameras with good ROS integration.