Kitti校准矩阵是如何计算的?

According to the file calib_cam_to_cam.txt(calib_time: 09-Jan-2012 14:00:15) provided on Kitti Website - http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d, the above mentioned matrix is for Camera 01(P_rect_01). As mentioned in the paper Vision meets Robotics: The KITTI Dataset by Andreas Geiger, Philip Lenz, Christoph Stiller and Raquel Urtasun(Section IV B - camera calibration), projection matrix for i-th camera -P(i)rect = [[fu 0 cx -fu*bx], [0 fv cy 0], [0 0 1 0]]其中，bx是基线，以米为单位.参照相机0.在Kitti网站上显示的传感器设置- http://www. cvlibs.net/datasets/kitti/setup.php 表示凸轮3和凸轮2之间的基线为0.54m，凸轮0和凸轮2之间以及凸轮1和凸轮3之间的基线为0.06m.where, bx is the baseline in meters w.r.t. the reference camera 0. The sensor setup as shown on Kitti website - http://www.cvlibs.net/datasets/kitti/setup.php indicates baseline between cam 3 and cam 2 is 0.54m and baseline between cam 0 and cam 2, and cam 1 and cam 3 is 0.06m.现在-fu * bx/fu = -386.1448/718.856〜= -0.537165〜= -0.54( B 3-2- B 2-0 + B 1-3 = B 1-0)Now, -fu*bx/fu = -386.1448/718.856 ~= -0.537165 ~= -0.54 (B3-2 - B2-0 + B1-3 = B1-0) 这篇关于Kitti校准矩阵是如何计算的?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！ 上岸，阿里云！