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26 lines
1.2 KiB
26 lines
1.2 KiB
function [] = export_calibratrion(from_serial, to_serial, stereoParams, output_filename)
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% Function converts calibration results into a calibration file for
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% rs-pointcloud-stitching
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% from_serial - the serial number of camera1
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% to_serial - the serial number of camera2
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% stereoParam - as exported from stereoCameraCalibrator
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% output_filename - where to save the calibration file for
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% rs-pointcloud-stitching
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fout = fopen(output_filename, 'w');
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if (fout < 0)
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fprintf('Error openning file %s for writing.\n', output_filename);
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exit();
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end
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eul_1to2 = rotm2eul(stereoParams.RotationOfCamera2);
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fprintf('Found the following rotation angles: %f, %f, %f\n', eul_1to2 * 180/pi);
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rot_2_to_middle = inv(eul2rotm(eul_1to2 / 2));
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trans_2_to_middle = stereoParams.TranslationOfCamera2 * (-1) / 2;
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fprintf(fout, '%s, %s, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n', string(from_serial), string(to_serial), stereoParams.RotationOfCamera2', stereoParams.TranslationOfCamera2/1000.0);
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fprintf(fout, '%s, %s, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n', string(to_serial), 'virtual_dev', rot_2_to_middle', trans_2_to_middle/1000.0);
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fclose(fout);
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end
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