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/usr/share/camera_calibration_parsers/package.xml is in libcamera-calibration-parsers-dev 1.11.11-3.

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The actual contents of the file can be viewed below.

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<package>
  <name>camera_calibration_parsers</name>
  <version>1.11.11</version>
  <description>
     camera_calibration_parsers contains routines for reading and writing camera calibration parameters.
  </description>
  <author>Patrick Mihelich</author>
  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
  <maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
  <license>BSD</license>

  <url type="website">http://ros.org/wiki/camera_calibration_parsers</url>
  <url type="bugtracker">https://github.com/ros-perception/image_common/issues</url>
  <url type="repository">https://github.com/ros-perception/image_common</url>

  <buildtool_depend>catkin</buildtool_depend>
  
  <build_depend>boost</build_depend>
  <build_depend>pkg-config</build_depend>
  <build_depend>rosconsole</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>yaml-cpp</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>roscpp_serialization</build_depend>

  <run_depend>boost</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>yaml-cpp</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>roscpp_serialization</run_depend>

  <test_depend>rosbash</test_depend>
  <test_depend>rosunit</test_depend>
</package>