rko_lio.dataloaders.helipr module

HeLiPR Dataloader

This loader is deprecated and will be removed in a future release. If you need it supported, please open an issue.

class rko_lio.dataloaders.helipr.HeliprDataLoader(data_path: Path, sequence: str | None = None, *args, **kwargs)

Bases: object

Dataset loader for HeLiPR dataset. data_path: e.g. ‘helipr/Bridge01’ sequence: LiDAR sensor name: ‘Aeva’, ‘Avia’, ‘Ouster’, ‘Velodyne’

property extrinsics

Return (T_imu_to_base, T_lidar_to_base) for this sequence.

rko_lio.dataloaders.helipr.parse_extrinsic_txt(path: Path) → numpy.ndarray

Parse an extrinsic calibration .txt file into a transform matrix. Assumes:

• Inside the [ ] brackets, numbers are always space-separated.

• Rotation block has exactly 9 floats, Translation has exactly 3 floats.

rko_lio.dataloaders.helipr.parse_lidar_extrinsic(path: Path, target_sensor: str) → numpy.ndarray

Parse LiDAR_extrinsic.txt for the block matching ‘Ouster - <target_sensor>’ and return it as a matrix.

Assumes inside Rotation and Translation brackets, numbers are space-separated. Matches are case-insensitive and multiline.