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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_

Data validity indicator (true if all status fields indicate valid mode).
time NDArray

Timestamps (s) relative to first odometry frame.
position NDArray

Position in geodetic coordinates (lat, lon, alt) where lat/lon are in radians and altitude is in meters.
attitude NDArray

Attitude as Euler angles (roll, pitch, yaw) in radians.
velocity NDArray

Velocity in ENU frame (forward, left, up) in m/s.
specific_force NDArray

Specific force measurements from accelerometer in m/s/s.
angular_rate NDArray

Angular rate measurements from gyroscope in rad/s.
position_accuracy NDArray

Position accuracy estimate in meters.
velocity_accuracy NDArray

Velocity accuracy estimate in m/s.

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

Timestamps (s) relative to first odometry frame.
pose NDArray

4x4 pose matrices representing camera poses. Each pose is stored as a homogeneous transformation matrix.

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

4x4 transformation matrix from camera frame to INS frame.

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 Vision Benchmark Suite site at https://www.cvlibs.net/datasets/kitti/index.php. 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:

Name Type Description Default
directory Path | str

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

 required
sequence int

KITTI sequence number (e.g., 7).

 required

Returns:

Name Type Description
odometry_data KittiOdometryData

Visual odometry data.
inertial_data KittiInertialData

Inertial sensor data.
calibration_data KittiCalibrationData

Calibration data.