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Namespace inertialsim::examples::kitti

Namespace List > inertialsim > examples > kitti

Classes

Type Name
struct KittiCalibrationData
Calibration data.
struct KittiInertialData
Inertial sensor data.
struct KittiOdometryData
Visual odometry data.
struct RawDataMapEntry
Raw data mapping entry.

Public Attributes

Type Name
const std::map< int, RawDataMapEntry > kRawDataMap
Mapping from odometry sequence number to raw data file information.

Public Functions

Type Name
std::tuple< KittiOdometryData, KittiInertialData, KittiCalibrationData > Load (const std::filesystem::path & directory, int sequence)
Load KITTI data.

Public Attributes Documentation

variable kRawDataMap

Mapping from odometry sequence number to raw data file information. 

const std::map<int, RawDataMapEntry> inertialsim::examples::kitti::kRawDataMap;

Public Functions Documentation

function Load

Load KITTI data. 

std::tuple< KittiOdometryData , KittiInertialData , KittiCalibrationData > inertialsim::examples::kitti::Load (
    const std::filesystem::path & directory,
    int sequence
)

Data is available from the KITTI Vision Benchmark Suite site. Odometry, raw data (inertial), and calibration files for each desired sequence number must be available. Images are not required but cannot be separated from some required downloads ahead of time. Sequence 07 is the recommended example.

The function loads:

  • Visual odometry data with camera poses and timestamps
  • Inertial navigation data (position, attitude, velocity, IMU measurements)
  • Calibration data for sensor-to-sensor transformations

Parameters:

  • directory Top level directory with KITTI data organized in subdirectories (e.g., "raw/" and "odometry/").
  • sequence KITTI sequence number (e.g., 7).

Returns:

Tuple containing:

  • Odometry data
  • Inertial data
  • Calibration data

Exception:

  • std::invalid_argument if sequence number is unknown.
  • std::runtime_error if data files cannot be opened or parsed.

The documentation for this class was generated from the following file cpp/include/inertialsim/examples/kitti.h