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hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
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Request for Calibration Parameters for Dataset #138

Open XIAO0131 opened 3 weeks ago

XIAO0131 commented 3 weeks ago

I recently came across your dataset on GitHub and would like to use it to validate my algorithm. However, I noticed that the calibration parameters between the different sensors are not available in the dataset.

In particular, I observed that in the FAST-LIVO configuration file, the images I extracted are at 1280×1024. Additionally, the output from the camera_pinhole_resize.yaml points to a resolution of 640×512. I was wondering if it would be possible for you to provide the intrinsic parameters for the camera and the extrinsic calibration between sensors.

xuankuzcr commented 3 weeks ago

The calibration parameters are already in the config files. For the original resolution, just multiply the provided intrinsics by 2. The intrinsics and extrinsics are as follows:

cam_model: Pinhole
cam_width: 1280
cam_height: 1024
cam_fx: 863.590518438
cam_fy: 863.100180534
cam_cx: 621.666074632
cam_cy: 533.971978652
cam_d0: -0.0944205499243979
cam_d1: 0.0946727677776504
cam_d2: -0.00807970960613932
cam_d3: 8.07461209775283e-05
Rcl: [0.00162756,-0.999991,0.00390957,
     -0.0126748,-0.00392989,-0.999912,
      0.999918,0.00157786,-0.012681]
Pcl: [0.0409257, 0.0318424, -0.0927219]