inertialsim.examples.kitti

Utilities for working with the KITTI Vision Benchmark Suite.

See: https://www.cvlibs.net/datasets/kitti/index.php

Classes:

Name	Description
KittiInertialData	Inertial sensor data.
KittiOdometryData	Visual odometry data.
KittiCalibrationData	Calibration data.

Functions:

Name	Description
load	Load KITTI data.

Attributes:

Name	Type	Description
raw_data_map

raw_data_map module-attribute

raw_data_map = {7: ('2011_09_30_drive_0027', 0, 1000)}

KittiInertialData

Inertial sensor data.

Inertial navigation system data from an OxTS 3000 INS sensor. See the raw data dev. kit readme.txt and the OxTS RT3000 user manual for more information.

Attributes:

Name	Type	Description
valid	bool_
time	NDArray
attitude	NDArray
position	NDArray
velocity	NDArray
angular_rate	NDArray
specific_force	NDArray
position_accuracy	NDArray
velocity_accuracy	NDArray

valid instance-attribute

valid: bool_

time instance-attribute

time: NDArray

attitude instance-attribute

attitude: NDArray

position instance-attribute

position: NDArray

velocity instance-attribute

velocity: NDArray

angular_rate instance-attribute

angular_rate: NDArray

specific_force instance-attribute

specific_force: NDArray

position_accuracy instance-attribute

position_accuracy: NDArray

velocity_accuracy instance-attribute

velocity_accuracy: NDArray

KittiOdometryData

Visual odometry data.

Odometry data is supplied as relative transform matrices in camera frame. See the odometry dev. kit readme.txt for details.

Attributes:

Name	Type	Description
time	NDArray
pose	NDArray

time instance-attribute

time: NDArray

pose instance-attribute

pose: NDArray

KittiCalibrationData

Calibration data.

Calibration data is supplied as sensor to vehicle transforms, which allow sensor to sensor calculations. See the raw data dev. kit readme.txt for details.

Attributes:

Name	Type	Description
camera_to_ins	NDArray

camera_to_ins instance-attribute

camera_to_ins: NDArray

load

load(
    directory: Path | str, sequence: int
) -> tuple[
    KittiOdometryData,
    KittiInertialData,
    KittiCalibrationData,
]

Load KITTI data.

Data is available from the KITTI site (see link in module documentation). 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.

Parameters:

Name	Type	Description	Default
directory	Path | str	top level directory with KITTI data organized in subdirectories.	required
sequence	int	KITTI sequence number.	required

Returns:

Name	Type	Description
odometry_data	KittiOdometryData	Visual odometry data.
inertial_data	KittiInertialData	Inertial sensor data.
calibration_data	KittiCalibrationData	Calibration data.