在calib文件中,有sequence 00-21序列,包括calib.txt 和 times.txt文件。
在sequence calib.txt 中,
P0: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 0.000000000000e+00 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P1: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.861448000000e+02 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P2: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 4.538225000000e+01 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 -1.130887000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.779761000000e-03
P3: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.372877000000e+02 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 2.369057000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 4.915215000000e-03
Tr: 4.276802385584e-04 -9.999672484946e-01 -8.084491683471e-03 -1.198459927713e-02 -7.210626507497e-03 8.081198471645e-03 -9.999413164504e-01 -5.403984729748e-02 9.999738645903e-01 4.859485810390e-04 -7.206933692422e-03 -2.921968648686e-01
0,1,2,3 代表相机的编号,0表示左边灰度相机,1右边灰度相机,2左边彩色相机,3右边彩色相机。Tr表示将velodyne座标系转换到左边相机系统座标。
根据calib.txt相机投影矩阵可以得到相机内参。
b(i) 代表其他相机相对于cam 0的偏移。
故此可以得到相机参数:
fu = 718.856
fv = 718.856
cu = 607.1928
cv = 185.2157
例如,在DSO的camera 中需要参数如下:
Pinhole fx fy cx cy 0
in_width in_height
"crop" / "full" / "none" / "fx fy cx cy 0"
out_width out_height
其中此处相机内参矩阵(Camera Intrinsics)
fx = 718.856
fy = 718.856
cx = 607.1928
cy = 185.2157