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JiatianWu / stereo-dso

Stereo DSO
GNU General Public License v3.0
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Clarification on camera calibration #6

Open Pedrous opened 6 years ago

Pedrous commented 6 years ago

So you do not need the extrinsic camera calibration parameters at all, How is the initialization done? And I am wondering if the intrinsic parameters for the second camera are not used or the two cameras are assumed equivalent?

fishcu commented 6 years ago

I solved the 2nd problem by pre-rectifying the images. The extrinsics are condensed into a single parameter, "baseline", with this implementation. There is no way to pass a general R,t stereo calibration unfortunately (parallel looking cameras are assumed).

Pedrous commented 6 years ago

Thank you, which parameters do you use then to make sure that the rectification is done only by you? I was able to get very good result with one camera by DSO but now that I am trying to use this stereo implementation, I am facing some difficulty to provide a reasonable trajectory.

fishcu commented 6 years ago

I just use the format described in the Readme under "Calibration File for Pre-Rectified Images". But, I only tested it with kitti dataset, no other configurations.

johnjin404 commented 5 years ago

hello，，would u tell me how to set the camera.txt if I use a stereo camera?? I don't know why the width and height are classified by in and out,,,what's the meaning of them? thank u~

Pedrous commented 5 years ago

It is just if you need to adjust the image size. The image size needs to be such that you can divide it for enough pyramid layers.