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Computer Vision Group
TUM School of Computation, Information and Technology
Technical University of Munich

Technical University of Munich

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Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

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data:datasets:rgbd-dataset:file_formats [2012/09/26 10:18]
sturmju
data:datasets:rgbd-dataset:file_formats [2013/01/26 12:07]
sturmju
Line 30: Line 30:
 cx = 319.5  # optical center x cx = 319.5  # optical center x
 cy = 239.5  # optical center y cy = 239.5  # optical center y
-ds = 1.0    # depth scaling 
  
 factor = 5000 # for the 16-bit PNG files factor = 5000 # for the 16-bit PNG files
Line 37: Line 36:
 for v in range(depth_image.height): for v in range(depth_image.height):
   for u in range(depth_image.width):   for u in range(depth_image.width):
-    Z = (depth_image[v,u] / factor) * ds;+    Z = depth_image[v,u] / factor;
     X = (u - cx) * Z / fx;     X = (u - cx) * Z / fx;
     Y = (v - cy) * Z / fy;     Y = (v - cy) * Z / fy;
Line 54: Line 53:
  
 Note that both the color and IR images of the Freiburg 3 sequences have already been undistorted, therefore the distortion parameters are all zero. The original distortion values can be found in the tgz file. Note that both the color and IR images of the Freiburg 3 sequences have already been undistorted, therefore the distortion parameters are all zero. The original distortion values can be found in the tgz file.
 +
 +**We recommend to use the ROS default parameter set (i.e., without undistortion), as undistortion of the pre-registered depth images is not trivial.**
  
 ==== Calibration of the depth images ==== ==== Calibration of the depth images ====
Line 62: Line 63:
 |Freiburg 2 Depth | 1.031 | |Freiburg 2 Depth | 1.031 |
 |Freiburg 3 Depth | 1.000 | |Freiburg 3 Depth | 1.000 |
 +
 +**We already pre-scaled the depth images of all sequences accordingly, so that no action on your side is necessary.**
  
 ==== Calibration of the infrared camera ==== ==== Calibration of the infrared camera ====

Rechte Seite

Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:

News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

More