About calib.txt in SemanticKITTI

[2311762665]

Hello author, according to the read_calib(calib_path) function of pc_processor->dataset->semantc_kitti->parser in your code,

def read_calib(calib_path):
    """
    :param calib_path: Path to a calibration text file.
    :return: dict with calibration matrices.
    """
    calib_all = {}
    with open(calib_path, 'r') as f:
        for line in f.readlines():
            if line == '\n':
                break
            key, value = line.split(':', 1)
            calib_all[key] = np.array([float(x) for x in value.split()])
calib_out = {}
# 3x4 projection matrix for left camera
calib_out['P2'] = calib_all['P2'].reshape(3, 4)
calib_out['Tr'] = np.identity(4)  # 4x4 matrix
calib_out['Tr'][:3, :4] = calib_all['Tr'].reshape(3, 4)
return calib_out

Does your calib.txt file already contain the ''Tr'' value? Why do I download only '''P0''', '''P1''', '''P2'', '''''P3' from the official website?

[iris0329]

Thanks for your attention, which file did you download? Could you share the link you use?

[2311762665]

Excuse me, the problem has been solved. It turns out that additional data_odometry_calib needs to be downloaded.

[iris0329]

Congrats, thanks for your update !