Export Bundle.out file

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    tomasb
    Hi Marion,

    we are following bundle.out structure as it was defined by University of Washington
    Focal length is in image pixels.

    Nevertheless, you can redefine how it is exported easily in "calibration.xml" file which is located next to reality capture executable in your installation folder.

    This is what you can find there:

    Code:
    # Bundle file v0.3
    $(cameraCount) $(pointsCount)$ExportCameras(
    $(f*scale) $(k1) $(k2)
    $(R00:g) $(-R02:g) $(R01:g)
    $(-R10:g) $(R12:g) $(-R11:g)
    $(-R20:g) $(R22:g) $(-R21:g)
    $(tx:g) $(-ty:g) $(-tz:g))$ExportPoints(
    $(x:.8) $(-z:.8) $(y:.8)
    $(r) $(g) $(b)
    $(trackLength)$ExportTrack( $(imageIndex) $(featureIndex) $(x*scale:.3) $(-y*scale:.3)))


    OPK exports rotation in three angles which are relative w.r.t. coordinate system and it exports camera position vector instead of camera translation.

    It means that to get a point X from the world coordinate system to an image, you need to do this:
    y = [R t] * X
    y.x = focalLength * y.x / y.z + imageWidth/2
    y.y = focalLength * y.y / y.z + imageHeight/2

    where imageWidth and imageHeight are width and height of the corresponding undistorted image.
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    marion
    Hello,

    Thank you for your swift reply.
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