Comments (4)
While doing Visual Odometry from a single camera, it is not possible to obtain the exact scale of the translation from one frame to the next. That is, I cannot distinguish between (0.1, 0.1, 0.1) and (1, 1, 1). So, my solution is correct only up to a constant. the getAbsoluteScale method read this scale constant (obtained from some other sensor like a speedometer).
Every row of the file (00.txt) has 12 elements. These 12 elements correspond to elements of a 3x4 matrix (written down row-wise). This 3x4 matrix is basically the horizontal concatenation of matrix R ( 3x3 rotation matrix) and translation vector t (3x1 vector).
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The current calib.txt file have four lines. Each line has 12 parameters and fit into the extrinsic parameters as following. And nothing more there.
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
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Do you offer the 00.txt file for download or do we need to generate it ourselves using LIBVISO with stereo input to get the translation matrix?
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@kozuch You can find it in the KITTI dataset after extracting the data_odometry_poses.zip file
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Related Issues (20)
- Calibration for absolute scale HOT 1
- Have you tried to optimize the frames?
- Some errors when running with KITTY dataset HOT 8
- how to run it without groundtruth use my own dataset HOT 1
- Some questions about the visodo.cpp
- some question
- How use my dataset?
- can you elaborate one part of the code?
- How to generate poses file in dataset ? HOT 2
- Performance graph HOT 1
- Dead code (prevPts and currPts are not used) ?
- Performance on python
- How to get the relative travel distance without distance information and Ground Truth
- Floating point exception error using opencv 2.4.8
- Incorrect trajectory
- where to download "00.txt" HOT 5
- My map is too small HOT 21
- Expression:_pFirstBlock==pHead HOT 2
- The error during the step of : make HOT 4
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