search

jbehley / voxelizer

Voxelize point clouds.
MIT License
169 stars 20 forks source link

Unknown name for calibration matrix #6

Closed ShengyuH closed 3 years ago

ShengyuH commented 3 years ago

hi Jens,

Thanks for your semanticKITTI benchmark and utils provided.

I am about to generate voxel data myself for SSC benchmark. My dataset is stored at: /net/pf-pc27/scratch2/kitti/dataset/sequences. Each sequence has calib.txt, image_0~image_3, labels, poses.txt, times.txt and velodyne. After installing voxelizer and running: 

./gen_data settings.cfg /net/pf-pc27/scratch2/kitti/dataset/sequences/01 /net/pf-pc27/scratch2/kitti/dataset/sequences/01

it reports: 

terminate called after throwing an instance of 'std::runtime_error'
 what(): Unknown name for calibration matrix.
Aborted

However:

cat /net/pf-pc27/scratch2/kitti/dataset/sequences/01/calib.txt

shows:

P0: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 0.000000000000e+00 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
P1: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.861448000000e+02 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00
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

Can you help fix this issue?

Best, Shengyu

jbehley commented 3 years ago

You have to download the calibration files provided with the KITTI Odometry dataset (a separate zip file) from the KITTI website. These text files contain an additional line with Tr: in the beginning.