Stereo Calibration - Export from Matlab to ROS

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I am trying to calibrate a pair of ueye cameras, model CP USB 3.0.

if I use the camera calibrator node the quality of calibration is really bad. I followed this guide step by step

http://wiki.ros.org/camera_calibratio...

After calibration I clicked commit and I ended up with two files in my driver ueye node. I can then start the driver and I see in topic camera_info that the calibration file has been loaded.

Then I run stereo_image_proc node to rectify the images, but I get a very bad result. Topics image_rect_color and image_color are almost the same, meaning the calibration is almost not doing much and the images are not well rectified.

I then tried to perform calibration again using the Matlab computer vision toolbox, stereo calibration app.

https://nl.mathworks.com/help/vision/...

With this one I get a much better calibration and the images are well rectified, but now I don't know how to export the results from Matlab to the .ini calibration files used by the ueye driver.

I am attaching the files with the results for both ROS and Matlab. Could you please help me translate the results from Matlab into ROS?

I understand the camera matrix, but I don't know how to correctly match the results from Matlab into the Distortion, Rectification and Projection Matrices of the .ini calibration files.

MATLAB RESULTS

Camera 1 Intrinsics
-------------------
Focal length (pixels):   [ 1461.7220 +/- 2.6474     1474.2012 +/- 2.6417  ]
Principal point (pixels):[  967.4086 +/- 1.4924      605.6235 +/- 1.2613  ]
Radial distortion:       [   -0.1466 +/- 0.0027        0.1859 +/- 0.0218       -0.1559 +/- 0.0512  ]
Tangential distortion:   [    0.0013 +/- 0.0002       -0.0001 +/- 0.0002  ]

Camera 1 Extrinsics
-------------------
Rotation vectors:
                         [   -0.2224 +/- 0.0042        0.0308 +/- 0.0032        0.0819 +/- 0.0004  ]
                         [   -0.3702 +/- 0.0017        0.1900 +/- 0.0017       -0.1542 +/- 0.0004  ]
                         [   -0.2243 +/- 0.0014       -0.0319 +/- 0.0015        0.0321 +/- 0.0003  ]
                         [   -0.1585 +/- 0.0017       -0.0929 +/- 0.0017        0.0388 +/- 0.0002  ]
                         [   -0.1432 +/- 0.0028       -0.1294 +/- 0.0025        0.0287 +/- 0.0002  ]
                         [   -0.1654 +/- 0.0023       -0.1418 +/- 0.0022        0.0294 +/- 0.0003  ]
                         [   -0.1599 +/- 0.0015       -0.1060 +/- 0.0020        0.0091 +/- 0.0003  ]
                         [   -0.1778 +/- 0.0014       -0.0985 +/- 0.0015       -0.0059 +/- 0.0002  ]
                         [   -0.0896 +/- 0.0020       -0.0548 +/- 0.0020        0.0570 +/- 0.0002  ]
                         [    0.0955 +/- 0.0027       -0.3056 +/- 0.0021        0.1882 +/- 0.0004  ]
                         [   -0.0263 +/- 0.0013       -0.0513 +/- 0.0013       -0.0077 +/- 0.0001  ]
                         [   -0.1241 +/- 0.0012       -0.0498 +/- 0.0013        0.0662 +/- 0.0001  ]
                         [   -0.1763 +/- 0.0009       -0.1665 +/- 0.0011       -0.0308 +/- 0.0001  ]
                         [   -0.1448 +/- 0.0010        0.0007 +/- 0.0012        0.0004 +/- 0.0001  ]
                         [   -0.1954 +/- 0.0009        0.0887 +/- 0.0011        0.0147 +/- 0.0002  ]
                         [   -0.1018 +/- 0.0010       -0.0225 +/- 0.0012        0.0400 +/- 0.0002  ]
                         [   -0.2833 +/- 0.0010       -0.0481 +/- 0.0012        0.0655 +/- 0.0003  ]
                         [   -0.2673 +/- 0.0011       -0.0353 +/- 0.0013        0 ...