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KITTI Iterator

Project description

KITTI Iterator

pylint workflow pypi workflow pytest workflow

Example usage:

from kitti_iterator import kitti_multimodal_iterator

# Load in the mini dataset
k_raw = KittiRaw(
    kitti_raw_base_path="kitti_raw_mini",
    date_folder="2011_09_26",
    sub_folder="2011_09_26_drive_0001_sync"
)

# Iterate
for data in k_raw:
    image_00, image_01, image_02, image_03, velodyine_points, occupancy_grid = data

# Indexing
image_00, image_01, image_02, image_03, velodyine_points, occupancy_grid = k_raw[3]

Install

pip install kitti_iterator

To install the latest (might be unstable):

pip install git+https://github.com/AdityaNG/kitti_iterator

Dataset Structre

Download the full dataset at www.cvlibs.net/datasets/kitti/raw_data.php

kitti_raw_mini/
└── 2011_09_26
    ├── 2011_09_26_drive_0001_sync
       ├── image_00
          ├── data
             ├── 0000000000.png
             ├── 0000000001.png
             ├── 0000000002.png
             ├── 0000000003.png
             └── 0000000004.png
          └── timestamps.txt
       ├── image_01
          ├── data
             ├── 0000000000.png
             ├── 0000000001.png
             ├── 0000000002.png
             ├── 0000000003.png
             └── 0000000004.png
          └── timestamps.txt
       ├── image_02
          ├── data
             ├── 0000000000.png
             ├── 0000000001.png
             ├── 0000000002.png
             ├── 0000000003.png
             └── 0000000004.png
          └── timestamps.txt
       ├── image_03
          ├── data
             ├── 0000000000.png
             ├── 0000000001.png
             ├── 0000000002.png
             ├── 0000000003.png
             └── 0000000004.png
          └── timestamps.txt
       ├── oxts
          ├── data
             ├── 0000000000.txt
             ├── 0000000001.txt
             ├── 0000000002.txt
             ├── 0000000003.txt
             └── 0000000004.txt
          ├── dataformat.txt
          └── timestamps.txt
       └── velodyne_points
           ├── data
              ├── 0000000000.bin
              ├── 0000000001.bin
              ├── 0000000002.bin
              ├── 0000000003.bin
              └── 0000000004.bin
           ├── timestamps_end.txt
           ├── timestamps_start.txt
           └── timestamps.txt
    ├── calib_cam_to_cam.txt
    ├── calib_imu_to_velo.txt
    └── calib_velo_to_cam.txt

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