Kitti road calib 对应的解释

BEV space -- bird eye view space

Each calibration file contains the following matrices (in row-major order):
P0 (3x4): Projection matrix for left grayscale camera in rectified coordinates
P1 (3x4): Projection matrix for right grayscale camera in rectified coordinates
P2 (3x4): Projection matrix for left color camera in rectified coordinates
P3 (3x4): Projection matrix for right color camera in rectified coordinates
R0_rect (3x3): Rotation from non-rectified to rectified camera coordinate system
Tr_velo_to_cam (3x4): Rigid transformation from Velodyne to (non-rectified) camera coordinates
Tr_imu_to_velo (3x4): Rigid transformation from IMU to Velodyne coordinates
Tr_cam_to_road (3x4): Rigid transformation from (non-rectified) camera to road coordinates

calib_cam_to_cam.txt: Camera-to-camera calibration
--------------------------------------------------


  - S_xx: 1x2 size of image xx before rectification
  - K_xx: 3x3 calibration matrix of camera xx before rectification
  - D_xx: 1x5 distortion vector of camera xx before rectification
  - R_xx: 3x3 rotation matrix of camera xx (extrinsic)
  - T_xx: 3x1 translation vector of camera xx (extrinsic)
  - S_rect_xx: 1x2 size of image xx after rectification
  - R_rect_xx: 3x3 rectifying rotation to make image planes co-planar
  - P_rect_xx: 3x4 projection matrix after rectification