本文介绍了如何理解KITTI相机校准文件？的处理方法，对大家解决问题具有一定的参考价值，需要的朋友们下面随着小编来一起学习吧！
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.
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。
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