问题
I am working on the KITTI dataset.
I have downloaded the object dataset (left and right) and camera calibration matrices of the object set.
I want to use the stereo information.
But I don't know how to obtain the Intrinsic Matrix and R|T Matrix of the two cameras. And I don't understand what the calibration files mean.
The contents of a calibration file:
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
回答1:
From the README,
The sensor calibration zip archive contains files, storing matrices in row-aligned order, meaning that the first values correspond to the first row:
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
Note: When using this dataset you will most likely need to access only P_rect_xx, as this matrix is valid for the rectified image sequences. maintained
来源：https://stackoverflow.com/questions/29407474/how-to-understand-the-kitti-camera-calibration-files