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CameraModel: save distortion_model field for ROS compatibility

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matlabbe
2015-09-15 11:38:29 -04:00
parent 53fa85e38a
commit ce025d1375
1 changed files with 11 additions and 0 deletions
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11
corelib/src/CameraModel.cpp
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@@ -231,6 +231,17 @@ bool CameraModel::save(const std::string & directory) const
fs << "data" << std::vector<double>((double*)D_.data, ((double*)D_.data)+(D_.rows*D_.cols));
fs << "}";
// compaibility with ROS
if(D_.cols > 5)
{
fs << "distortion_model" << "rational_polynomial";
}
else
{
fs << "distortion_model" << "plumb_bob";
}
fs << "rectification_matrix" << "{";
fs << "rows" << R_.rows;
fs << "cols" << R_.cols;