No calibration available

[chogan99]

1. No calibration available for camera's
2. Transformation between camera's are not available in dataset

Where can we find these?

[belkhir-nacim]

Hello,
We uploaded a calibration script example on the github of the code
let us know if you need some help to use it

[chogan99]

Thank you, where can I find the calibration parameters of each camera

[chogan99]

I see on Zed 2 dataset there is a 120mm base between cameras but in the code translation is a a unit vector

def get_translation_matrix(translation_vector):
"""Convert a translation vector into a 4x4 transformation matrix
"""
T = torch.zeros(translation_vector.shape[0], 4, 4, device=translation_vector.device)

t = translation_vector.contiguous().view(-1, 3, 1)

T[:, 0, 0] = 1
T[:, 1, 1] = 1
T[:, 2, 2] = 1
T[:, 3, 3] = 1
T[:, :3, 3, None] = t

return T

[mhariat]

Hello,
You can find the calibration paremeters in the init_reprojection function

`
def init_retroprojection(BATCH_SIZE = 1, WIDTH_INFRA = 382, HEIGHT_INFRA = 288, f_INFRA = 620, WIDTH_ZED = 1920, HEIGHT_ZED = 1080, f_ZED = 1000):

PARAMS_INFRA = [f_INFRA, f_INFRA, WIDTH_INFRA / 2, HEIGHT_INFRA / 2]
K_INFRA = [[PARAMS_INFRA[0], 0., PARAMS_INFRA[2], 0],
           [0., PARAMS_INFRA[1], PARAMS_INFRA[3], 0],
           [0., 0., 1., 0]]
K_INFRA = torch.from_numpy(np.vstack((np.array(K_INFRA), [0, 0, 0, 1])).astype(np.float32)).unsqueeze(0)


PARAMS_ZED = [f_ZED, f_ZED, WIDTH_ZED / 2, HEIGHT_ZED / 2]
K_ZED = [[PARAMS_ZED[0], 0., PARAMS_ZED[2], 0],
         [0., PARAMS_ZED[1], PARAMS_ZED[3], 0],
         [0., 0., 1., 0]]
K_ZED = np.vstack((np.array(K_ZED), [-10, 10, 0, 1])).astype(np.float32)
invK_ZED = torch.from_numpy(np.linalg.inv(K_ZED)).unsqueeze(0)

T = get_translation_matrix(torch.Tensor([0, 0, 0]).unsqueeze(0))

backproject = BackprojectDepth(BATCH_SIZE, HEIGHT_ZED, WIDTH_ZED)
project = Project3D(BATCH_SIZE, HEIGHT_ZED, WIDTH_ZED)
return WIDTH_INFRA,HEIGHT_INFRA,K_INFRA,WIDTH_ZED,HEIGHT_ZED,invK_ZED,T,backproject,project

`
The 120mm base you're referring to is the distance between the lenses. This is not relevant in our case, as we are interested in capturing the image from one ZED Camera (left) under the point of view of the Infra Camera.
Let me know if you need any additional clarification!