demo_odometry.py KeyError: 'Tr' error

acseckin commented 7 years ago

After running demo_odometry.py code this error

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/usr/local/lib/python2.7/dist-packages/spyder/utils/site/sitecustomize.py", line 866, in runfile
    execfile(filename, namespace)
  File "/usr/local/lib/python2.7/dist-packages/spyder/utils/site/sitecustomize.py", line 94, in execfile
    builtins.execfile(filename, *where)
  File "/home/acs/Documents/python_projects/DOKTORA/Monocular Odometry/demos/demo_odometry.py", line 23, in <module>
    dataset = pykitti.odometry(basedir, sequence, frames=range(0, 20, 5))
  File "build/bdist.linux-x86_64/egg/pykitti/odometry.py", line 31, in __init__
  File "build/bdist.linux-x86_64/egg/pykitti/odometry.py", line 156, in _load_calib
KeyError: 'Tr'

My setup:

xubuntu: Ubuntu 16.04.2 LTS Editor: Spyder Python 2.7

leeclemnet commented 7 years ago

I'm unable to reproduce this error. 'Tr' appears only in the calib.txt file associated with each sequence. Which sequence are you working with, is calib.txt in the default location, and does it contain a 'Tr' entry?

leeclemnet commented 7 years ago

Closing due to inactivity.

versatran01 commented 5 years ago

For some reason the version that I downloaded does not have Tr in calib.txt in all sequences.

This is probably because the calib.txt in poses overwriting the correct calib.

mehranand1 commented 4 years ago

Error after running demo_odometry.py

In google Colab, Python3, TPU , data_odometry_gray.zip

   KeyError                                  Traceback (most recent call last)
 <ipython-input-16-16db14e38499> in <module>()
 18 # Load the data. Optionally, specify the frame range to load.
 19 # dataset = pykitti.odometry(basedir, sequence)
 ---> 20 dataset = pykitti.odometry(basedir, sequence, frames=range(0, 20, 5))
 21 
 22 # dataset.calib:      Calibration data are accessible as a named tuple

 /usr/local/lib/python3.6/dist-packages/pykitti/odometry.py in __init__(self, base_path, sequence, 
**kwargs)
 31 
 32         # Pre-load data that isn't returned as a generator
 ---> 33         self._load_calib()
 34         self._load_timestamps()
 35         self._load_poses()

 /usr/local/lib/python3.6/dist-packages/pykitti/odometry.py in _load_calib(self)
167 
168         # Compute the velodyne to rectified camera coordinate transforms
--> 169         data['T_cam0_velo'] = np.reshape(filedata['Tr'], (3, 4))
170         data['T_cam0_velo'] = np.vstack([data['T_cam0_velo'], [0, 0, 0, 1]])
171         data['T_cam1_velo'] = T1.dot(data['T_cam0_velo'])

KeyError: 'Tr'

@leeclemnet

calib.txt(04 sequence)

mehranand1 commented 4 years ago

Solved with this file: http://www.cvlibs.net/download.php?file=data_odometry_calib.zip

utiasSTARS / pykitti

demo_odometry.py KeyError: 'Tr' error #8

After running demo_odometry.py code this error

My setup: