Pinhole intrinsic calibration for stereo_centre

[jimaldon]

Regarding bumblebee, I noticed https://github.com/ori-mrg/robotcar-dataset-sdk/tree/master/models only has Pinhole intrinsic calibration for stereo_narrow_left. stereo_narrow_right, stereo_wide_left, stereo_wide_right. However, the camera images are stored as stereo/left stereo/right and stereo/centre.

According to the paper: stereo_narrow_<left/right>.txt are for the the stereo/centre and stereo/right images. stereo_wide_<left/right>.txt are for the the stereo/left and stereo/right images.

So are there two intrinsic calibrations for stereo/right (stereo_narrow_right.txt and stereo_wide_right.txt)? What about intrinsic info for treating stereo/right as a monocular camera?

If for instance I feed images from one of these lenses to a visual odometry algorithm that works on monocular images, which Pinhole fx fy cx cy values would be correct?

[homocysteine]

@jimaldon My dear friend, have you solved this problem? Because I have a similar requirement now, and I need to use this dataset to test a monocular visual SLAM algorithm. If you already know the solution, please let me know. I would be extremely grateful.