utils.calibration_kitti

Classes

Calibration 

Calibration(calib_file)

Attributes

P2 instance-attribute 
P2 = calib['P2']
R0 instance-attribute 
R0 = calib['R0']
V2C instance-attribute 
V2C = calib['Tr_velo2cam']
cu instance-attribute 
cu = self.P2[0, 2]
cv instance-attribute 
cv = self.P2[1, 2]
fu instance-attribute 
fu = self.P2[0, 0]
fv instance-attribute 
fv = self.P2[1, 1]
lidar2img_transformation_matrix instance-attribute 
lidar2img_transformation_matrix = self._get_lidar2img_transformation_matrix()
tx instance-attribute 
tx = self.P2[0, 3] / -self.fu
ty instance-attribute 
ty = self.P2[1, 3] / -self.fv

Functions

cart_to_hom 
cart_to_hom(pts)
Parameters:
  • pts –

    (N, 3 or 2)
Returns:
  • –

    (N, 4 or 3)
img_to_rect 
img_to_rect(u, v, depth_rect)
Parameters:
  • u –

    (N)

  • v –

    (N)

  • depth_rect –

    (N)
Returns:
  • –
lidar_to_img 
lidar_to_img(pts_lidar)
Parameters:
  • pts_lidar –

    (N, 3)
Returns:
  • –

    (N, 2)
lidar_to_rect 
lidar_to_rect(pts_lidar)
Parameters:
  • pts_lidar –

    (N, 3)
Returns:
  • –

    (N, 3)
rect_to_img 
rect_to_img(pts_rect)
Parameters:
  • pts_rect –

    (N, 3)
Returns:
  • –

    (N, 2)
rect_to_lidar 
rect_to_lidar(pts_rect)
Parameters:
  • pts_rect –

    (N, 3)
Returns:
  • –

    (N, 3)