kitti_dataset_utils

Provides helper methods for loading and parsing KITTI data.

class packnet_sfm.datasets.kitti_dataset_utils.OxtsData(packet, T_w_imu)

Bases: tuple

property T_w_imu

Alias for field number 1

property packet

Alias for field number 0

class packnet_sfm.datasets.kitti_dataset_utils.OxtsPacket(lat, lon, alt, roll, pitch, yaw, vn, ve, vf, vl, vu, ax, ay, az, af, al, au, wx, wy, wz, wf, wl, wu, pos_accuracy, vel_accuracy, navstat, numsats, posmode, velmode, orimode)

Bases: tuple

property af

Alias for field number 14

property al

Alias for field number 15

property alt

Alias for field number 2

property au

Alias for field number 16

property ax

Alias for field number 11

property ay

Alias for field number 12

property az

Alias for field number 13

property lat

Alias for field number 0

property lon

Alias for field number 1

property navstat

Alias for field number 25

property numsats

Alias for field number 26

property orimode

Alias for field number 29

property pitch

Alias for field number 4

property pos_accuracy

Alias for field number 23

property posmode

Alias for field number 27

property roll

Alias for field number 3

property ve

Alias for field number 7

property vel_accuracy

Alias for field number 24

property velmode

Alias for field number 28

property vf

Alias for field number 8

property vl

Alias for field number 9

property vn

Alias for field number 6

property vu

Alias for field number 10

property wf

Alias for field number 20

property wl

Alias for field number 21

property wu

Alias for field number 22

property wx

Alias for field number 17

property wy

Alias for field number 18

property wz

Alias for field number 19

property yaw

Alias for field number 5

packnet_sfm.datasets.kitti_dataset_utils.load_oxts_packets_and_poses(oxts_files)

Generator to read OXTS ground truth data. Poses are given in an East-North-Up coordinate system whose origin is the first GPS position.

Parameters

oxts_files (list of str) – List of oxts files to read from

Returns

oxts – List of oxts ground-truth data

Return type

list of dict

packnet_sfm.datasets.kitti_dataset_utils.pose_from_oxts_packet(raw_data, scale)

Helper method to compute a SE(3) pose matrix from an OXTS packet

Parameters

• raw_data (dict) – Oxts data to read from

• scale (float) – Oxts scale

Returns

• R (np.array [3,3]) – Rotation matrix

• t (np.array [3]) – Translation vector

packnet_sfm.datasets.kitti_dataset_utils.read_calib_file(filepath)

Read in a calibration file and parse into a dictionary

Parameters

filepath (str) – File path to read from

Returns

calib – Dictionary with calibration values

Return type

dict

packnet_sfm.datasets.kitti_dataset_utils.rotx(t)

Rotation about the x-axis

Parameters

t (float) – Theta angle

Returns

matrix – Rotation matrix

Return type

np.array [3,3]

packnet_sfm.datasets.kitti_dataset_utils.roty(t)

Rotation about the y-axis

Parameters

t (float) – Theta angle

Returns

matrix – Rotation matrix

Return type

np.array [3,3]

packnet_sfm.datasets.kitti_dataset_utils.rotz(t)

Rotation about the z-axis

Parameters

t (float) – Theta angle

Returns

matrix – Rotation matrix

Return type

np.array [3,3]

packnet_sfm.datasets.kitti_dataset_utils.transform_from_rot_trans(R, t)

Transformation matrix from rotation matrix and translation vector.

Parameters

• R (np.array [3,3]) – Rotation matrix

• t (np.array [3]) – translation vector

Returns

matrix – Transformation matrix

Return type

np.array [4,4]