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Junggy / HAMMER-dataset

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D435 calibration #3

Open yugitw opened 2 months ago

yugitw commented 2 months ago

Hi this is a great work! Could you provide the D435 calibration as well?

I know D435 by default outputs depth that aligns with the left camera but we would like to test it with our own stereo algorithm. Therefore, it would be good to have the access to the D435 calibration (extrinsic/intrinsic parameters for both cameras) so that we can project the depth from the left camera to the right camera.

Besides, if the extrinsic between the polarization camera and the d435 is available, it would be good to have it as well.

Thanks!

Junggy commented 2 months ago

Hi!

Thanks for your interest on our dataset! Actually I should have retreived the calibration data for d435 (like baseline, focal) so that one can try the stereo matching...

I manage to take calibration data from the sensor via RealSense viewer but I am not 100% sure that this is the same sensor that is use for obtaining the data. You should try the values from width 848 and height 480

calibration.json

for the extrinsic between d435 and pol, I may be able to provide the extrinsic, but it may take some time .. I will let you know later