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  • Understanding the Calibration file
  • Different Packages for using Kitti Dataset

Kitti

PreviousROS for python3

Last updated 5 years ago

Understanding the Calibration file

This file basically contains all the transform between between different frames of camera such as velodyne, camera, etc.

Use following links to understand it:

Main equation for transformation

Different Packages for using Kitti Dataset

Python Package to read Kitti data.

Covert Kitti dataset to ROS Bag or Publish as ROS topics.

y=Prectixrecty = P_{rect}^i x^{rect}y=Precti​xrect

In the calib.txt file, the P0,P1,P2,P3P_0, P_1, P_2, P_3P0​,P1​,P2​,P3​matrices are the projection matrix which project the 3D point xrectx_{rect}xrect​in rectified camera coordinate frame to image coordinates of camera iii. Please note that rectified camera coordinate frame is not related to any camera iii. So basically these PiP_iPi​given in calib.txt are actuallyPrectiP_{rect}^iPrecti​ and takes points in rectifies camera coordinate and not points in ithi^{th}ithcamera coordinate frames.

y=PrectiRrect0Trvelo−to−cam0xveloy = P_{rect}^i R_{rect}^0 Tr^{velo-to-cam0} x^{velo}y=Precti​Rrect0​Trvelo−to−cam0xvelo

This is one of the main equation given in the readme.md file for transformations of points. Here xvelox^{velo}xvelois 3D point in velodyne coordinate frame. Trvelo−to−cam0Tr^{velo-to-cam0}Trvelo−to−cam0 transform an point from velodyne to reference camera (cam0) coordinate frame. ie. xcam0=Trvelo−to−cam0xvelox^{cam0} = Tr^{velo-to-cam0}x^{velo}xcam0=Trvelo−to−cam0xvelo. xcam0x^{cam0}xcam0is in cam0 coordinate frame, cam0 is reference camera in kitti.

xrect=Rrect0xcam0x^{rect}= R_{rect}^0x^{cam0}xrect=Rrect0​xcam0

We need xxxin rectified frame to be worked with PrectiP_{rect}^iPrecti​. Hence we use Rrect0R_{rect}^0Rrect0​which transform point from cam0 coordinate frame to rectified coordinate frame.

KITTI 3D Object Detection DatasetMedium
GitHub - utiasSTARS/pykitti: Python tools for working with KITTI data.GitHub
GitHub - tomas789/kitti2bag: Convert KITTI dataset to ROS bag file the easy way!GitHub
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Kitti.pdf
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Kitti official Data Discription
This is what is given in readme.md