calibration file for own data

[drieshulens]

Hello,

Im trying DynSLAM on my own data. I used the ZED stereo camera to do this and calibrated it with OpenCV. I see that the kitti data set provides a calibration file in the form of:

P0: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 0.000000000000e+00 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00

P1: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.875744000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00

P2: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 4.485728000000e+01 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.163791000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.745884000000e-03

P3: 7.215377000000e+02 0.000000000000e+00 6.095593000000e+02 -3.395242000000e+02 0.000000000000e+00 7.215377000000e+02 1.728540000000e+02 2.199936000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.729905000000e-03

R_rect 9.999239000000e-01 9.837760000000e-03 -7.445048000000e-03 -9.869795000000e-03 9.999421000000e-01 -4.278459000000e-03 7.402527000000e-03 4.351614000000e-03 9.999631000000e-01

Tr_velo_cam 7.533745000000e-03 -9.999714000000e-01 -6.166020000000e-04 -4.069766000000e-03 1.480249000000e-02 7.280733000000e-04 -9.998902000000e-01 -7.631618000000e-02 9.998621000000e-01 7.523790000000e-03 1.480755000000e-02 -2.717806000000e-01

Tr_imu_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

The calibration files of OpenCV are as follows:

#%YAML:1.0
camera_name: ZED2_left
image_width: 1920
image_height: 1080
camera_matrix:
rows: 3
cols: 3
data: [ 1.3325889551073612e+03, 0., 9.6462060792131365e+02, 0.,
1.3313556296229908e+03, 5.4097960043772673e+02, 0., 0., 1. ]

distortion_coefficients:
rows: 1
cols: 5
data: [ -1.6965238949210806e-01, 2.4916166768304802e-02,
-1.0860335812810083e-03, 3.5066287012128759e-03,
9.3440116918466895e-04 ]

distortion_model: plumb_bob

rectification_matrix:
rows: 3
cols: 3
data: [ 9.9814719429682419e-01, 4.1577454419303691e-03,
-6.0703308560720474e-02, -4.4027583777311967e-03,
9.9998269084855151e-01, -3.9030400917507819e-03,
6.0686029990808021e-02, 4.1630705171307736e-03,
9.9814822276444692e-01 ]

projection_matrix:
rows: 3
cols: 4
data: [ 1.3371802122767306e+03, 0., 1.0957167205810547e+03, 0., 0.,
1.3371802122767306e+03, 5.5516946792602539e+02, 0., 0., 0., 1.,
0. ]

Any idea to go from the opencv version to the kitti, or how to calibrate my ZED camera tot get the same calibration file as kitti ?

Thank you,
Kind Regards,
Dries Hulens

[Zhaohuai-L]

@drieshulens
Hello bro,
I I met the same confusion as you,but i think if we want to use our own DataSet on DynSLAM,there are a few remaining jobs to do ,that is exactly what I'm doing now.
If it runs successfully on my dataset, I will reply below this issue! If you have completed this work ,please reply here, thanks!