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uzh-rpg / DSEC

MIT License
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Event undistortion #9

Closed RunqiuBao closed 3 years ago

RunqiuBao commented 3 years ago

Hello, I am looking at your great dataset.

I suppose the event raw data were not preprocessed with lens undistortion? So I tried undistortion with the intrinsics you provided, but the result is a weird. seems like already undistorted before. image

So just to make sure if you have already undistorted the events raw data?

Thanks!

magehrig commented 3 years ago

Hi @RunqiuBao

According to the description in https://github.com/uzh-rpg/DSEC#rectification, events are saved as they arrive on the sensor (distorted). The rectify_map.h5 that is provided with each event file can be used to undistort and rectify the events directly. You don't need to use the calibration files for that. Hope that helps