using calibrationdata.tar.gz file in a launch file

I calibrated my 2 usb cameras (using usb_cam driver) with the camera_calibration tool in stereo vision. As a result I got a /tmp/calibrationdata.tar.gz file. Since I couldn't use the commit function of the calibration tool, all I have is this file. How can I use it? What I tried: - extracted the ost.txt file from the calibrationdata.tar.gz - converted it to yaml format using the camera_calibration_parsers tool (2x for left and right camera) - in the camera launch file included the following line for both left and right camera: `` The camera launch file is as follows: The left.yaml and right.yaml files are in the same directory as the launch file, and they looks like this: image_width: 640 image_height: 480 camera_name: narrow_stereo/left camera_matrix: rows: 3 cols: 3 data: [788.542495, 0, 327.486858, 0, 791.888555, 225.27738, 0, 0, 1] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [0.145671, -0.706881, 0.00285, -0.00085, 0] rectification_matrix: rows: 3 cols: 3 data: [0.996588, -0.063317, -0.052951, 0.06356, 0.997974, 0.002905, 0.05266, -0.006261, 0.998593] projection_matrix: rows: 3 cols: 4 data: [1224.680474, 0, 566.859081, 0, 0, 1224.680474, 246.882917, 0, 0, 0, 1, 0] I have the following topics: /rosout /rosout_agg /stereo/left/camera_info /stereo/left/image_raw /stereo/left/image_raw/compressed /stereo/left/image_raw/compressed/parameter_descriptions /stereo/left/image_raw/compressed/parameter_updates /stereo/left/image_raw/compressedDepth /stereo/left/image_raw/compressedDepth/parameter_descriptions /stereo/left/image_raw/compressedDepth/parameter_updates /stereo/left/image_raw/theora /stereo/left/image_raw/theora/parameter_descriptions /stereo/left/image_raw/theora/parameter_updates /stereo/right/camera_info /stereo/right/image_raw /stereo/right/image_raw/compressed /stereo/right/image_raw/compressed/parameter_descriptions /stereo/right/image_raw/compressed/parameter_updates /stereo/right/image_raw/compressedDepth /stereo/right/image_raw/compressedDepth/parameter_descriptions /stereo/right/image_raw/compressedDepth/parameter_updates /stereo/right/image_raw/theora /stereo/right/image_raw/theora/parameter_descriptions /stereo/right/image_raw/theora/parameter_updates The camera_info streams messages like this: --- header: seq: 43435 stamp: secs: 1368651668 nsecs: 147961861 frame_id: left height: 480 width: 640 distortion_model: '' D: [] K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: False --- Without the calibration parameters. What is wrong? Here I am stucked. I want to use Any idea?