Differences
This shows you the differences between two versions of the page.
Both sides previous revision Previous revision | Last revision Both sides next revision | ||
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, | + | Z = depth_image[v, |
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, | Note that both the color and IR images of the Freiburg 3 sequences have already been undistorted, | ||
+ | |||
+ | **We recommend to use the ROS default parameter set (i.e., without undistortion), | ||
==== 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, | ||
==== Calibration of the infrared camera ==== | ==== Calibration of the infrared camera ==== |