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KITTI-VO-Parser

A simple parser for the KITTI Dataset. To select a sequence simply edit the sequence string in the 'parser.py' file.

Dependencies:

  • numpy
  • yaml

Functions:

  • readImage(idx) : takes the index of the frame and returns the corresponding image in color and grayscale (for monocular vo)
  • readImage_Stereo(idx) : takes the index of the frame and returns the stereo pairs in the following order "image_Left, grayImage_Left, image_Right, grayImage_Right"
  • getCalibrationMatrix() : returns the calibration matrix, camera external rotation matrix, camera external translation vector, rotation around X, rotation around Y, rotation around Z, and eulerAngles. Check OpenCV's decomposeProjectionMatrix for more info.
  • getRealPoses() : returns the ground truth poses.
  • getScale() : return the ground truth scale moving from (idx-1) to (idx)