如何理解KITTI相机校准文件？ [英] How to understand KITTI camera calibration files?

问题描述

我正在处理一个KITTI数据集。

我已下载对象集的对象数据集（左和右）和相机校准矩阵。

I am working on a KITTI dataset.
I have downloaded the object data set (left and right) and camera calibration matrices of object set.

我想使用立体声信息。

但我不知道如何获得两个相机的本征矩阵和R | T矩阵。

I want to use the stereo information.
But I don't how to obtain the Intrinsic Matrix and R|T Matrix of two cameras. And I don't understand what the calibration files meaning.

校准文件的内容：

P0: 
7.070493000000e+02 0.000000000000e+00 6.040814000000e+02 0.000000000000e+00 
0.000000000000e+00 7.070493000000e+02 1.805066000000e+02 0.000000000000e+00 
0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P1: 
7.070493000000e+02 0.000000000000e+00 6.040814000000e+02 -3.797842000000e+02 
0.000000000000e+00 7.070493000000e+02 1.805066000000e+02 0.000000000000e+00 
0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P2: 
7.070493000000e+02 0.000000000000e+00 6.040814000000e+02 4.575831000000e+01 
0.000000000000e+00 7.070493000000e+02 1.805066000000e+02 -3.454157000000e-01 
0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 4.981016000000e-03
P3: 
7.070493000000e+02 0.000000000000e+00 6.040814000000e+02 -3.341081000000e+02 
0.000000000000e+00 7.070493000000e+02 1.805066000000e+02 2.330660000000e+00 
0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.201153000000e-03
R0_rect: 
9.999128000000e-01 1.009263000000e-02 -8.511932000000e-03 
-1.012729000000e-02 9.999406000000e-01 -4.037671000000e-03 
8.470675000000e-03 4.123522000000e-03 9.999556000000e-01
Tr_velo_to_cam: 
6.927964000000e-03 -9.999722000000e-01 -2.757829000000e-03 -2.457729000000e-02 
-1.162982000000e-03 2.749836000000e-03 -9.999955000000e-01 -6.127237000000e-02 
9.999753000000e-01 6.931141000000e-03 -1.143899000000e-03 -3.321029000000e-01
Tr_imu_to_velo: 
9.999976000000e-01 7.553071000000e-04 -2.035826000000e-03 -8.086759000000e-01 
-7.854027000000e-04 9.998898000000e-01 -1.482298000000e-02 3.195559000000e-01 
2.024406000000e-03 1.482454000000e-02 9.998881000000e-01 -7.997231000000e-01

推荐答案

是的，我遇到了同样的问题，我发现了一些有用的东西。

Yeah, I meet the same problem and I found something useful.

此处是关于此数据集的文章集

Here is the paper about this data Set

第3页是关于相机校准。

the page 3 is about the camera calibration.

从这里，我们可以找到S，K，D，R和T的含义

And from this, we can find the meaning of S, K, D,R and T

这可以帮助你。

这篇关于如何理解KITTI相机校准文件？的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！