Unknown name for calibration matrix

[Shengyu HUANG]

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

[Jens Behley]

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.