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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Calibration file for the stereo case is not clear to me #114

Closed cgringmuth closed 2 years ago

cgringmuth commented 4 years ago

https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/ef9784101fbd28506b52f233315541ef8ba7af57/Examples/Stereo/EuRoC.yaml#L37

I don't understand the parameters in the stereo case. It would be nice if you could elaborate on this a little. For example why are the parameters Camera.fx, Camera.fy etc. the same as in LEFT.P. However LEFT.K is not reflected in LEFT.P. Isn't P = K[R|t], so for the left camera it should be basically the calibration matrix? Thus, LEFT.P = LEFT.K[I|0]. This is obviously not the case but for the general camera it is the case.

And this is only necessary if the images not already rectified isn't it?

I would be very glad if you could explain a little or refer me to papers/books/articles etc. which explains this.

jdtardos commented 2 years ago

Check calibration_tutorial.pdf in version v1.0