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This is a follow up question to the one here: How Kitti calibration matrix was calculated?

Now I do understand the values in the projection matrix, but I also see that the KITTI projection matrices for P2 and P3 are as follows:

P2: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 4.538225000000e+01 
    0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 -1.130887000000e-01 
    0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.779761000000e-03
P3: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.372877000000e+02 
    0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 2.369057000000e+00 
    0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 4.915215000000e-03

The values in P2(1,3) and P2(2,3) and P3(1,3) and P3(2,3) are 0.0 in P0 and P1. Why is that ?
rreddy78
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1 Answers1

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P0,P1,P2 and P3 are calibration matrices of the front, back,left and right cameras Zeroes in P0 and P1 indicates either of the 2 possibilities 1.Your dataset does not have front and back camera images 2.Thers's something wrong with the calibration

yagna prabhala
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  • That cant be because these calibration values are straight from the KITTI dataset. Does KITTI even use back cameras ? I dont think so – rreddy78 Oct 12 '22 at 14:58