KITTI Iterator
Project description
KITTI Iterator
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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