KeyError: 'Tr'

[arkin8858]

Hello,
Bundle of thanks sharing such an amazing code . i have created required environment after few modification according to the nvidia gpu. However stuck at this following error;

data['T_cam0_velo'] = np.reshape(filedata['Tr'], (3, 4))
KeyError: 'Tr'

I rechecked my calib.txt and Tr matrix is provided in that file however during evaluation of kitti odometry dataset sequence 00 as given default params, i've got Tr keyerror. i tried to check the pykitti and installed from the source as well but still same issue.

Could anyone guide me regarding this issue. @howtocodewang @LvXudong-HIT @Sibozhu

Thanks

[sicong-li]

@arkin8858 Have you solved this problem?

[sunflowvor]

Download data_odometry_calib.zip file and unzip it on the dataset path

[callzhang]

Actually, you need to download the lidar dataset, in which you will find Tr data inside.

[qzsrh]

hello,麻烦问一下,数据的整体结构图是什么样.数据文件夹需要整理成什么样

[Hliu0313]

、>>、>>>和>>>>分别是1、2、3、4级目录，组织格式如下：

your_path/sequences/

your_sequences_name/

image_2/

   >>>>000000.jpg

   >>>>000001.jpg

   >>>>....

velodyne/

   >>>>000000.bin
   >>>>000001.bin
   >>>>....

calib.txt
times.txt

[HXB-1997]

解压缩四个压缩包，之后手动把sequences的内容放到一起

[HXB-1997]

解压缩四个压缩包，之后手动把sequences的内容放到一起

odometry_color$ tree -L 3
.
├── poses
│   ├── 00.txt
│   ├── 01.txt
│   ├── 02.txt
│   ├── 03.txt
│   ├── 04.txt
│   ├── 05.txt
│   ├── 06.txt
│   ├── 07.txt
│   ├── 08.txt
│   ├── 09.txt
│   └── 10.txt
└── sequences
├── 00
│   ├── calib.txt
│   ├── image_2
│   ├── image_3
│   ├── times.txt
│   └── velodyne
├── 01
│   ├── calib.txt
│   ├── image_2
│   ├── image_3
│   ├── times.txt
│   └── velodyne
├── 02
│   ├── calib.txt
│   ├── image_2
│   ├── image_3
│   ├── times.txt
│   └── velodyne
├── 03
│   ├── calib.txt
│   ├── image_2
│   ├── image_3
│   ├── times.txt
│   └── velodyne
├── 04
│   ├── calib.txt
│   ├── image_2
│   ├── image_3
│   ├── times.txt
│   └── velodyne