一些声明
见data_odometry_calib文件夹中的calib.txt文件,其中P0表示左边灰度相机的3×4内参矩阵,P1表示右边灰度相机的3×4内参矩阵。依据这两个矩阵,求解
f
x
f_x
fx,
f
y
f_y
fy,
c
x
c_x
cx,
c
y
c_y
cy和
b
b
b。
方法
以00系列中的calib.txt中的两个矩阵为例,求解
f
x
f_x
fx,
f
y
f_y
fy,
c
x
c_x
cx,
c
y
c_y
cy和
b
b
b。
P0 =
[
718.8560
0
607.1928
0
0
718.8560
185.2157
0
0
0
1
0
]
(1)
\left[ \begin{matrix} 718.8560&0&607.1928&0\\ 0&718.8560&185.2157&0\\ 0&0&1&0 \end{matrix} \right]\tag{1}
⎣⎡718.8560000718.85600607.1928185.21571000⎦⎤(1)
P1=
[
718.8560
0
607.1928
−
386.1448
0
718.8560
185.2157
0
0
0
1
0
]
(1)
\left[ \begin{matrix} 718.8560&0&607.1928&-386.1448\\ 0&718.8560&185.2157&0\\ 0&0&1&0 \end{matrix} \right]\tag{1}
⎣⎡718.8560000718.85600607.1928185.21571−386.144800⎦⎤(1)
故
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
386.1448
/
718.8560
=
0.5372
b=386.1448/718.8560=0.5372
b=386.1448/718.8560=0.5372。其中
f
x
f_x
fx,
c
x
c_x
cx,
f
y
f_y
fy和
c
y
c_y
cy的单位都是像素,而
b
b
b的单位是米。
图像的宽度为1241个像素,图像的高度为376个像素!
00-21sequence的相机内参
- 00sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 01sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 02sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 03sequence
f
x
=
721.5377
f_x=721.5377
fx=721.5377,
c
x
=
609.5593
c_x=609.5593
cx=609.5593,
f
y
=
721.5377
f_y=721.5377
fy=721.5377,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 04sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
172.8540
c_y=172.8540
cy=172.8540和
b
=
0.5372
b=0.5372
b=0.5372 - 05sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 06sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 07sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 08sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 09sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 10sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 11sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 12sequence
f
x
=
707.0912
f_x=707.0912
fx=707.0912,
c
x
=
601.8873
c_x=601.8873
cx=601.8873,
f
y
=
707.0912
f_y=707.0912
fy=707.0912,
c
y
=
183.1104
c_y=183.1104
cy=183.1104和
b
=
0.5372
b=0.5372
b=0.5372 - 13sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 14sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 15sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 16sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 17sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 18sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 19sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 20sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372 - 21sequence
f
x
=
718.8560
f_x=718.8560
fx=718.8560,
c
x
=
607.1928
c_x=607.1928
cx=607.1928,
f
y
=
718.8560
f_y=718.8560
fy=718.8560,
c
y
=
185.2157
c_y=185.2157
cy=185.2157和
b
=
0.5372
b=0.5372
b=0.5372
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