示例#1
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"""
This test program parses oxts .txt files and print transformation
"""

import pykitti.utils as utils
from glob import glob

load_dir = '/home/caizhongang/Datasets/kitti/kitti_raw_data/2011_09_26/2011_09_26_drive_0017_sync/oxts/data'

if __name__ == '__main__':
    paths = glob(load_dir + '/*.txt')
    oxts = utils.load_oxts_packets_and_poses(paths)
    print(oxts[1])
示例#2
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文件： raw.py 项目： utiasSTARS/pykitti 
 def _load_oxts(self):
     """Load OXTS data from file."""
     self.oxts = utils.load_oxts_packets_and_poses(self.oxts_files)
示例#3
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文件： raw.py 项目： yunzc/pykitti 
 def _load_oxts(self):
     """Load OXTS data from file."""
     self.oxts = utils.load_oxts_packets_and_poses(self.oxts_files)
示例#4
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 def get_oxt_list(self):
     """Read velodyne [x,y,z,reflectance] scan at the specified index."""
     return utils.load_oxts_packets_and_poses(self.oxt_file)
示例#5
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def transform(pc, tf):
	tf_pc = []
	tf = np.array(tf)
	for p in pc:
		p = np.array(p[0:3].tolist() + [1.0])
		#print(tf, p)
		tf_p = np.matmul(tf, p)
		tf_p = tf_p[0:3] / tf_p[3]
		tf_pc.append(tf_p.tolist())
	return tf_pc		


if __name__ == '__main__':
	oxts_pathnames = sorted(glob(join(oxts_load_dir, '*.txt')))
	oxts_all = utils.load_oxts_packets_and_poses(oxts_pathnames)

	pc_all = []
	oxts_pathnames = oxts_pathnames[:1]
	for i, oxts_pathname in enumerate(oxts_pathnames):
		stem, ext = splitext(basename(oxts_pathname))
		pc_pathname = join(pc_load_dir, stem+'.bin')
		pc = utils.load_velo_scan(pc_pathname)
		
		oxts = oxts_all[i]
		#print(type(oxts))	
		tf = oxts[1]
		#print(tf)
		
		tf_pc = transform(pc, tf)
示例#6
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 def _load_oxts(self):
     """Load OXTS data from file."""
     oxt_filename = os.path.join(
         self.base_path, 'oxts/{}.txt'.format(self.sequence))
     self.oxts = utils.load_oxts_packets_and_poses([oxt_filename])