kitti

kitti raw 的详细介绍（要看kitti的参考论文比较好）

sequence synchronized（同步）之后是 10hz

rectify 指的是对相机坐标系进行了旋转

原先拍的图片修正后，相当于是在一个新的相机坐标系 下的相机拍的照片（这两个坐标系只是有一个旋转），因此，0号相机，也有一个R参数。

calib_cam_to_cam.txt：

calib_time: 09-Jan-2012 13:57:47
corner_dist: 9.950000e-02

S_00: 1.392000e+03 5.120000e+02   
原始图像尺寸，宽度*高度 
1x2 矫正前的图像xx的大小
------------------------------------------------------------------------------------------
K_00: 9.842439e+02 0.000000e+00 6.900000e+02 0.000000e+00 9.808141e+02 2.331966e+02 0.000000e+00 0.000000e+00 1.000000e+00
第i号相机的内参
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D_00: -3.728755e-01 2.037299e-01 2.219027e-03 1.383707e-03 -7.233722e-02
畸变系数
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R_00: 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00
从0号相机到i号相机的旋转矩阵
因为第一个相机是基准，因此这个矩阵是 单位矩阵
------------------------------------------------------------------------------------------
T_00: 2.573699e-16 -1.059758e-16 1.614870e-16
从0号相机到i号相机的平移向量，基本为0
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S_rect_00: 1.242000e+03 3.750000e+02
校正后的图像尺寸
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R_rect_00: 9.999239e-01 9.837760e-03 -7.445048e-03 -9.869795e-03 9.999421e-01 -4.278459e-03 7.402527e-03 4.351614e-03 9.999631e-01
3x3 修正后的旋转矩阵，修正（去除畸变的过程对图像进行了crop，对相机坐标系进行了旋转）
-----------------------------------------------------------------------------------------
P_rect_00: 7.215377e+02 0.000000e+00 6.095593e+02 0.000000e+00 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
一个三维点 投影到第i个相机的投影矩阵
校正后的投影矩阵，维度为3*4
3x4 矫正后的投影矩阵
注意第四个值是0，这是因为rec过程对图像进行了crop只是近似改变了内参，对相机的位置没改变。01等投影矩阵，相对于00相机都有位置上的偏移，因此这个值不为0
------------------------------------------------------------------------------------------
S_01: 1.392000e+03 5.120000e+02
K_01: 9.895267e+02 0.000000e+00 7.020000e+02 0.000000e+00 9.878386e+02 2.455590e+02 0.000000e+00 0.000000e+00 1.000000e+00
D_01: -3.644661e-01 1.790019e-01 1.148107e-03 -6.298563e-04 -5.314062e-02
R_01: 9.993513e-01 1.860866e-02 -3.083487e-02 -1.887662e-02 9.997863e-01 -8.421873e-03 3.067156e-02 8.998467e-03 9.994890e-01
T_01: -5.370000e-01 4.822061e-03 -1.252488e-02
S_rect_01: 1.242000e+03 3.750000e+02
R_rect_01: 9.996878e-01 -8.976826e-03 2.331651e-02 8.876121e-03 9.999508e-01 4.418952e-03 -2.335503e-02 -4.210612e-03 9.997184e-01
------------------------------
P_rect_01: 7.215377e+02 0.000000e+00 6.095593e+02 -3.875744e+02 0.000000e+00 7.215377e+02 1.728540e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
-----------------------
S_02: 1.392000e+03 5.120000e+02
K_02: 9.597910e+02 0.000000e+00 6.960217e+02 0.000000e+00 9.569251e+02 2.241806e+02 0.000000e+00 0.000000e+00 1.000000e+00
D_02: -3.691481e-01 1.968681e-01 1.353473e-03 5.677587e-04 -6.770705e-02
R_02: 9.999758e-01 -5.267463e-03 -4.552439e-03 5.251945e-03 9.999804e-01 -3.413835e-03 4.570332e-03 3.389843e-03 9.999838e-01
T_02: 5.956621e-02 2.900141e-04 2.577209e-03
S_rect_02: 1.242000e+03 3.750000e+02
R_rect_02: 9.998817e-01 1.511453e-02 -2.841595e-03 -1.511724e-02 9.998853e-01 -9.338510e-04 2.827154e-03 9.766976e-04 9.999955e-01
P_rect_02: 7.215377e+02 0.000000e+00 6.095593e+02 4.485728e+01 0.000000e+00 7.215377e+02 1.728540e+02 2.163791e-01 0.000000e+00 0.000000e+00 1.000000e+00 2.745884e-03
S_03: 1.392000e+03 5.120000e+02
K_03: 9.037596e+02 0.000000e+00 6.957519e+02 0.000000e+00 9.019653e+02 2.242509e+02 0.000000e+00 0.000000e+00 1.000000e+00
D_03: -3.639558e-01 1.788651e-01 6.029694e-04 -3.922424e-04 -5.382460e-02
R_03: 9.995599e-01 1.699522e-02 -2.431313e-02 -1.704422e-02 9.998531e-01 -1.809756e-03 2.427880e-02 2.223358e-03 9.997028e-01
T_03: -4.731050e-01 5.551470e-03 -5.250882e-03
S_rect_03: 1.242000e+03 3.750000e+02
R_rect_03: 9.998321e-01 -7.193136e-03 1.685599e-02 7.232804e-03 9.999712e-01 -2.293585e-03 -1.683901e-02 2.415116e-03 9.998553e-01
P_rect_03: 7.215377e+02 0.000000e+00 6.095593e+02 -3.395242e+02 0.000000e+00 7.215377e+02 1.728540e+02 2.199936e+00 0.000000e+00 0.000000e+00 1.000000e+00 2.729905e-03

由于存在 枕形失真效应，image被crop了，rectified后的图片大小小于原先的1392x512

数据包括

1. 未同步和unrectified的，也包括已经处理过的(synced+rectified)图片
2. 3D Velodyne point clouds (100k points per frame, stored as binary float matrix)
3. 3D GPS/IMU data (location, speed, acceleration, meta information, stored as text file)
4. Calibration (Camera, Camera-to-GPS/IMU, Camera-to-Velodyne, stored as text file)
5. 3D object tracklet labels (cars, trucks, trams, pedestrians, cyclists, stored as xml file)
6. 3D object tracklet labels (cars, trucks, trams, pedestrians, cyclists, stored as xml file) 物体轨迹标签

参考：

http://www.cvlibs.net/datasets/kitti/raw_data.php