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utiasSTARS / pykitti

Python tools for working with KITTI data.
MIT License
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Missing Velodyne calibration data: "KeyError: 'Tr'" (and the solution) #5

Closed AndreiBarsan closed 7 years ago

AndreiBarsan commented 7 years ago

This is just a minor issue which confused me a little at first, and could be nice to have in e.g., the README. Namely, if one simply downloads the KITTI odometry dataset (e.g., just http://www.cvlibs.net/download.php?file=data_odometry_gray.zip), then the sequence folders will already have calibration files in them, but these files will not have the velodyne-to-rectified-camera-coords information.

One also needs to download the separate calibration data (http://www.cvlibs.net/download.php?file=data_odometry_calib.zip) archive, and overwrite all old calib.txt files (which only contain P0-P3 matrices) with the new ones which also contain the Tr key, providing the velodyne-to-camera transform matrices.

I was getting a few KeyError: 'Tr' before I figured this out. Again, this isn't a major issue, but I just thought I'd point it out in case anyone else was confused.

leeclemnet commented 7 years ago

Good catch. I updated the readme to point out that the calibration files need to be downloaded separately. https://github.com/utiasSTARS/pykitti/commit/3f3a7e7d4621546f124bdf5ae3ee012c79f7ffaa

sunmk2006 commented 7 years ago

hi,i want to use the KITTI odometry dataset to do laser odometry tests , the algorithm needs to use IMU information, but the IMU information is not found in this dataset,Can you help me?