How to use the TUM RGBD dataset?

[lin-name]

Dear professor, Thanks for your great work. I have compiled this code on Windows with VS2019, and run with the KITTI odometry dataset sequence 00, and get the right result consistent with your paper. As i know, we can get the Tr form the calib.txt file of the KITTI, and get the final pose by:

T_velo_cam * P * T_cam_velo

Source code in KITTIOdometry.cpp:

But how can i run it with the TUM RGBD dataset? and how can i get the Tr of the TUM RGBD data. I tried to set the T_cam_velo and the T_velo_cam to Eigen::Matrix4d::Identify(), but the output is wrong.

Looking forward for your reply.