The camera parameters from params/CameraParams.yaml are ignored in favor to hardcoded values in the KittiDataProvider class. The provider expects a certain dataset file structure (kitti/xxxx) to assign the correct params.
See KittiDataProvider.hpp line 526
// hardcoded camera params
// we use the dataset path to determine which camera params to load (0000-0013
// is different from 0018-0020) and we expect the dataset path to be in the
// form <path/to/kitti/XXXX> we use XXXX to determine which dataset us being
// used and which params to use
void setCameraParams(const fs::path& dataset_path) {
std::string end_folder = dataset_path.parent_path().filename();
LOG(INFO) << end_folder;
int dataset_id;
std::istringstream(end_folder) >> dataset_id;
LOG(INFO) << "Loading KITTI camera params from dataset: " << dataset_id;
if (dataset_id <= 13) {
CameraParams::IntrinsicsCoeffs intrinsics(
{721.5377, 721.5377, 609.5593, 172.8540});
CameraParams::DistortionCoeffs distortion({0, 0, 0, 0});
cv::Size image_size(1242, 375);
camera_params_ =
CameraParams(intrinsics, distortion, image_size, "radial_tangential");
// IR projection of this dataset is 387.5744. IR = baseline * fx
// (fx=721.5377)
camera_params_->setDepthParams(0.57);
params_.base_line = 387.5744;
} else if (dataset_id >= 18 && dataset_id <= 20) {
The camera parameters from params/CameraParams.yaml are ignored in favor to hardcoded values in the KittiDataProvider class. The provider expects a certain dataset file structure (kitti/xxxx) to assign the correct params.
See KittiDataProvider.hpp line 526