ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Wed, 15 Apr 2015 03:49:57 -0500How to get the projection matrix from odometry/tf data ?https://answers.ros.org/question/207145/how-to-get-the-projection-matrix-from-odometrytf-data/ Hello,
I would like to compare my results of visual Odometry with the groundtruth provided by the KITTI dataset.
For each frame in the groundthruth, i have a projection matrix.
For example:
1.000000e+00 9.043683e-12 2.326809e-11 1.110223e-16 9.043683e-12 1.000000e+00 2.392370e-10 2.220446e-16 2.326810e-11 2.392370e-10 9.999999e-01 -2.220446e-16
Here the instructions provided by the readme:
> Row i represents the i'th pose of the
> left camera coordinate system (i.e., z
> pointing forwards) via a 3x4
> transformation matrix. The matrices
> are stored in row aligned order (the
> first entries correspond to the first
> row), and take a point in the i'th
> coordinate system and project it into
> the first (=0th) coordinate system.
> Hence, the translational part (3x1
> vector of column 4) corresponds to the
> pose of the left camera coordinate
> system in the i'th frame with respect
> to the first (=0th) frame
But I don't know how to produce the same kind of data for me.
What I have for each frame in my case:
- The Tf transformation from the init_camera (the fix one from the (0,0,0)) to the left camera which is moving. So I have the translation vector and the quaternion rotation.
- The odometry data: the pose and the twist
- Camera calibration parameters
With those data, How I compare with the groundtruth ? So I need to find the projection matrix from the data above but don't know how to do it.
Can someone help me ?
ThankWed, 15 Apr 2015 03:49:57 -0500https://answers.ros.org/question/207145/how-to-get-the-projection-matrix-from-odometrytf-data/