立体相机

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calibration


1. kitti数据集

转载自 https://blog.csdn.net/ziqian0512/article/details/78339575

https://blog.csdn.net/yangziluomu/article/details/78338405

在选取的kitti数据集的文件中包含calib.txt 和times.txt 文件;
在calib.txt 文件中:

P0: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 0.000000000000e+00 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P1: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 -3.798145000000e+02 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P2: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 4.688783000000e+01 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 1.178601000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 6.203223000000e-03
P3: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 -3.334597000000e+02 0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 1.930130000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.318498000000e-03

其实上述数据应该是这样的格式:

P0: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 0.000000000000e+00
    0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 0.000000000000e+00
    0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P1: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 -3.798145000000e+02
    0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 0.000000000000e+00 
    0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P2: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 4.688783000000e+01
    0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 1.178601000000e-01 
    0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 6.203223000000e-03
P3: 7.070912000000e+02 0.000000000000e+00 6.018873000000e+02 -3.334597000000e+02 
    0.000000000000e+00 7.070912000000e+02 1.831104000000e+02 1.930130000000e+00 
    0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.318498000000e-03

这里写图片描述

0,1,2,3 代表相机的编号,0表示左边灰度相机,1右边灰度相机,2左边彩色相机,3右边彩色相机。Tr表示将velodyne坐标系转换到左边相机系统坐标。

根据calib.txt 相机投影矩阵可以得到相机内参。

b(i) 代表其他相机相对于 cam 0 的偏移。

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