如何理解 KITTI 相机校准文件?

问题描述

我正在研究 KITTI 数据集.
我已经下载了对象集的对象数据集(左右)和相机校准矩阵.

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

我想使用立体声信息.
但是我不知道如何获得两个相机的Intrinsic Matrix和R|T Matrix.而且我不明白校准文件是什么意思.

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.

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

来自 自述文件、

传感器校准 zip 存档包含文件，将矩阵存储在行对齐的顺序，这意味着第一个值对应于第一行:

calib_cam_to_cam.txt:相机到相机校准

calib_cam_to_cam.txt: Camera-to-camera calibration

• S_xx:1x2 大小的图像 xx 校正前
• K_xx:校正前相机 xx 的 3x3 标定矩阵
• D_xx:校正前相机 xx 的 1x5 畸变向量
• R_xx:相机 xx 的 3x3 旋转矩阵(外部)
• T_xx:相机 xx 的 3x1 平移向量(外部)
• S_rect_xx: 1x2 大小的图像 xx 校正后
• R_rect_xx:3x3 校正旋转以使图像平面共面
• P_rect_xx:校正后的 3x4 投影矩阵

注意:使用此数据集时，您很可能只需要访问P_rect_xx，因为该矩阵对校正后的图像序列有效.维护

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

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