laser_onto_image_cb

 LASER_ONTO_IMAGE_CB is the callback file for Laser onto image feature.
 
 LASER_ONTO_IMAGE_CB is called to reproject laser points from a laser
 range finder onto an image. This can be useful for the verification of
 the calibration results.
 
 Calib_Results.mat file needs to present in order to retrieve the camera
 calibration parameters.

0001 % LASER_ONTO_IMAGE_CB is the callback file for Laser onto image feature.
0002 %
0003 % LASER_ONTO_IMAGE_CB is called to reproject laser points from a laser
0004 % range finder onto an image. This can be useful for the verification of
0005 % the calibration results.
0006 %
0007 % Calib_Results.mat file needs to present in order to retrieve the camera
0008 % calibration parameters.
0009 
0010 if ~exist('delta','var')
0011     disp('No Calibration Data.');
0012     return;
0013 end
0014 if ~exist('.\Calib_Results.mat','file')
0015     disp('Calib_Results.mat is needed to proceed.');
0016     return;
0017 end
0018 
0019 % load camera calibration results.
0020 load Calib_Results.mat fc cc kc alpha_c fc_error cc_error kc_error alpha_c_error;
0021 
0022 % adjust errors, divide by 3 to get standard deviation (the camera
0023 % calibraiton toolbox outputs 3 times the standard deviation as an
0024 % uncertainty).
0025 fc_error=fc_error./3;
0026 cc_error=cc_error./3;
0027 kc_error=kc_error./3;
0028 alpha_c_error=alpha_c_error./3;
0029 
0030 % select images
0031 loino=input('Select image numbers to display ([]=none):');
0032 
0033 % display all images
0034 for cntr=loino
0035     im=GetImage(cntr);
0036     if isempty(im)
0037         disp('File does not exist.');
0038         return;
0039     else
0040         InsertLaserIntoImage( GetImage(cntr), angleVector, rangeMatrix(cntr,:), delta, phi, fc, cc, kc, alpha_c,deltae,rote,fc_error,cc_error,kc_error,alpha_c_error);
0041     end
0042 end