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Why there are differences between EuRoC dataset and EuRoC_Tandem_format's camera intrinsic? #43

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JayChen1996 opened this issue Sep 10, 2022 · 0 comments

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@JayChen1996
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I download the euroc_tandem_format_1.1.beta from here,and there is a camera.txt in in V1_01_easy directory, in V101_easy :
Pinhole 436.2250208688045 436.2250208688045 310.1627625810339 256.94604110717773 0
640 480
crop
640 480
but I downloaded EuRoC dataset from https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
and I found the camera intrinsics in EuRoC Dataset is different from Tandem format, I want to ask why and how the camera intrinsics computed in tandem format
sensor.yaml of origin EuRoC dataset:
cam0
intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv
cam1
intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv

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