Dear all,
thanks for your amazing work and effort on creating this dataset! I have a questions regarding the calibration.
What is the difference between ‘aria01.vrs’ and ‘aria01_noimagestream.vrs’ calibration files? They have different principal point and focal length, but to my understanding the noimagestream-file should be the same but without image data.
I only get the correct undistorted aria rgb images with aria01.vrs, but would like to avoid downloading all vrs files with images if that is not necessary.
Best,
lea
Here’s an example for take cmu_bike01_2:
# aria01.vrs
CameraCalibration(label: camera-rgb, model name: Fisheye624, principal point: [705.015, 704.749], focal length: [610.22, 610.22], projection params: [610.22, 705.015, 704.749, 0.390335, -0.362834, -0.239278, 1.72969, -2.09687, 0.749958, -0.000561914, -0.000926931, 0.00201643, -0.000420764, 0.000238061, -0.000507036], image size (w,h): [1408, 1408], T_Device_Camera:(translation:[-0.00438125, -0.0123959, -0.00536101], quaternion(x,y,z,w):[0.3293, 0.0417021, 0.0362213, 0.942608]), serialNumber:0450577b730305354401100000000000)
# aria01_noimagestream.vrs:
CameraCalibration(label: camera-rgb, model name: Fisheye624, principal point: [1442.53, 1442], focal length: [1220.44, 1220.44], projection params: [1220.44, 1442.53, 1442, 0.390335, -0.362834, -0.239278, 1.72969, -2.09687, 0.749958, -0.000561914, -0.000926931, 0.00201643, -0.000420764, 0.000238061, -0.000507036], image size (w,h): [2880, 2880], T_Device_Camera:(translation:[-0.00438125, -0.0123959, -0.00536101], quaternion(x,y,z,w):[0.3293, 0.0417021, 0.0362213, 0.942608]), serialNumber:0450577b730305354401100000000000)
# for reference: online_calib[0]['CameraCalibrations'][2]
{'Calibrated': True, 'Projection': {'Params': [1220.439291944814, 1442.529221859291, 1441.997151419051, 0.3903350032156671, -0.3628338118352796, -0.2392777738885203, 1.72968866010095, -2.096873915251233, 0.7499578205635813, -0.0005619143992431268, -0.0009269308782712309, 0.002016426267951603, -0.0004207638630777981, 0.0002380609461884488, -0.0005070359350339245], 'Description': 'see FisheyeRadTanThinPrism.h', 'Name': 'FisheyeRadTanThinPrism'}, 'T_Device_Camera': {'Translation': [-0.004381252520929506, -0.01239586212971901, -0.005361006094486243], 'UnitQuaternion': [0.9426082662605363, [0.3293001730031777, 0.04170212552646007, 0.03622133575613418]]}, 'SerialNumber': '0450577b730305354401100000000000', 'Label': 'camera-rgb'}