rko_lio.dataloaders.raw module

Raw Dataloader

When using the raw dataloader, arrange your dataset directory as follows:

dataset_root/
├── transforms.yaml                 # required: contains 4x4 matrices
├── imu.csv / imu.txt               # must match required columns
└── lidar/                          # folder of point clouds
    ├── 1662622237000000000.ply
    ├── 1662622238000000000.ply
    └── ...

  • transforms.yaml: defines two keys (T_imu_to_base, T_lidar_to_base), each a 4×4 matrix. See Extrinsics and conventions.

  • IMU file: Only one file (CSV or TXT) is allowed. Required columns: timestamp, gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z. Extra columns are allowed. timestamp in nanoseconds, others in SI units.

  • lidar/: contains scans as PLY files. Each filename is a timestamp (ns) for the scan. Each PLY file must have a time field (accepted names: time, timestamp, timestamps, or t) in seconds.

class rko_lio.dataloaders.raw.RawDataLoader(data_path: Path, *args, **kwargs)

Bases: object

property extrinsics