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HKUST-Aerial-Robotics / MVDepthNet

This repository provides PyTorch implementation for 3DV 2018 paper "MVDepthNet: real-time multiview depth estimation neural network"
GNU General Public License v3.0
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About camera external matrix #32

Open Fizmath opened 3 years ago

Fizmath commented 3 years ago

Hello

How to calculate left_pose , left_pose matrices in example2.py for my own images taken by an android phone ?

I get camera intrinsic parameters Focal Length = 3.46 mm , Sensor Size=4.66*3.51 , Pixel Array Size=4160*3120 , Orintation = 90 degree in android by installing a device info app.

Having these, how we can get the camera pose (external matrix) ? Any other method?

Here are some other camera characteristics that the Camera2 Info app displays 

android.lens.facing:  1
android.lens.info.availableApertures:  [1.8]
android.lens.info.availableFilterDensities:  [0.0]
android.lens.info.availableFocalLengths:  [3.46]
android.lens.info.availableOpticalStabilization:  [0]
android.lens.info.focusDistanceCalibration:  2
android.lens.info.hyperfocalDistance:  0.2
android.lens.info.minimumFocusDistance:  14.285714

android.sensor.calibrationTransform1:  ColorSpaceTransform([128/128, 0/128, 0/128], [0/128, 128/128, 0/128], [0/128, 0/128, 128/128])

android.sensor.calibrationTransform2:  ColorSpaceTransform([128/128, 0/128, 0/128], [0/128, 128/128, 0/128], [0/128, 0/128, 128/128])

android.sensor.colorTransform1:  ColorSpaceTransform([1094/1024, -306/1024, -146/1024], [-442/1024, 1388/1024, 52/1024], [-104/1024, 250/1024, 600/1024])

android.sensor.colorTransform2:  ColorSpaceTransform([2263/1024, -1364/1024, -145/1024], [-194/1024, 1257/1024, -56/1024], [-24/1024, 187/1024, 618/1024])

android.sensor.forwardMatrix1:  ColorSpaceTransform([612/1024, 233/1024, 139/1024], [199/1024, 831/1024, -6/1024], [15/1024, -224/1024, 1049/1024])

android.sensor.forwardMatrix2:  ColorSpaceTransform([441/1024, 317/1024, 226/1024], [29/1024, 908/1024, 87/1024], [9/1024, -655/1024, 1486/1024])

android.sensor.info.activeArraySize:  Rect(0, 0 - 4160, 3120)

android.sensor.info.colorFilterArrangement:  0

android.sensor.info.physicalSize:  4.66x3.51

android.sensor.info.pixelArraySize:  4160x3120

android.sensor.info.preCorrectionActiveArraySize:  Rect(0, 0 - 4160, 3120)

android.sensor.info.sensitivityRange:  [50, 3200]

android.sensor.info.whiteLevel:  1023

Thanks