kitti数据集生成投影矩阵的matlab代码

clc
clear

% 读取标定文件
calib_file = 'E:\kitti数据集\KITTI\data_object_calib\training\calib\000000.txt';  % 替换为实际的标定文件路径
calib_data = containers.Map;





fid = fopen(calib_file, 'r');
while ~feof(fid)
    line = fgetl(fid);
    values = strsplit(line, ' ');
    name = values{1}(1:end-1);
    data = str2double(values(2:end));
    calib_data(name) = data;
end
fclose(fid);

% 解析投影矩阵
P0 = reshape(calib_data('P0'), 4, 3)';
P1 = reshape(calib_data('P1'), 4, 3)';
P2 = reshape(calib_data('P2'), 4, 3)';
P3 = reshape(calib_data('P3'), 4, 3)';
R0_rect = reshape(calib_data('R0_rect'), 3, 3)';
Tr_velo_to_cam = reshape(calib_data('Tr_velo_to_cam'), 3, 4)';
Tr_imu_to_velo = reshape(calib_data('Tr_imu_to_velo'), 3, 4)';

% 显示投影矩阵
disp('投影矩阵 P0:');
disp(P0);
disp('投影矩阵 P1:');
disp(P1);
disp('投影矩阵 P2:');
disp(P2);
disp('投影矩阵 P3:');
disp(P3);
disp('旋转矩阵 R0_rect:');
disp(R0_rect);
disp('激光雷达到相机的变换矩阵 Tr_velo_to_cam:');
disp(Tr_velo_to_cam);
disp('IMU到激光雷达的变换矩阵 Tr_imu_to_velo:');
disp(Tr_imu_to_velo);