How to use Calibration

[doraemon96]

The FieldSAFE Dataset website points to two calibration files, namely:

• https://vision.eng.au.dk/data/FieldSAFE/ParamsMultiSenseLeft.mat
• https://vision.eng.au.dk/data/FieldSAFE/ParamsFlirA65.mat which when read with a current version of MATLAB (ex 2023b) only seem to show parameters for one of the cameras (for example for the first, it shows as having a single cameraParameters and not a stereoParameters).

Could you provide some pointers on how to use this file? For example the version of MATLAB used to generate them? Otherwise, could you provide a converter to a more recent version or to a more generally readable file (like a yaml or something that can be read by an open-source software like python + OpenCV?).

Thanks! I'm open to help on this because I would really like to use the dataset.

[mikkelkh]

Hi doraemon96,

I'm very sorry about the late answer! For some reason, I have completely overlooked your issue. I think you are right that ParamsMultiSenseLeft.mat only has camera parameters for the left camera, which is the color camera. The rosbags also only contain raw images from the left camera and then depth maps from stereo matching that were generated on the device while recording. Therefore, I don't think you would even be able to use camera parameters for the right camera, since these images are not available in the rosbags.

Unfortunately, I don't have a converter. But I completely agree that it would make sense to have the parameters in a non-Matlab format like yaml or similar. Feel free to share these, if you convert them.

Best regards, Mikkel Fly Kragh