Class Kitti360Dataset

Defined in File Kitti360Dataset.h

Inheritance Relationships

Base Types

public RawDataSourceBase
public OfflineDatasetSource
public Dataset_UI

Class Documentation

class Kitti360Dataset : public RawDataSourceBase, public OfflineDatasetSource, public Dataset_UI

RawDataSource from Kitti-360 datasets.

Each “sequence” directory contains these sensor streams:

image_0 & image_1: Perspective cameras
image_2 & image_3: Fish-eye cameras (TO-DO)
lidar: Velodyne 3D LIDAR. Published as mrpt::obs::CObservationPointCloud with X,Y,Z,I,T channels. The timestamp (T) channel is estimated from azimuth of points (if generate_lidar_timestamps param is true), with generated timestamps between [-0.05,+0.05] seconds.
Ground truth poses

The sequence to load is determined by the sequence parameter (e.g. via config yaml file), from these possible values:

sequence: 00|02|03|04|05|06|07|08|09|10|18|test_0|test_1|test_2|test_3

Expected contents under base_dir directory (the result of using the download scripts provided by the KITTI-360 web):

KITTI-360/
├── calibration
│  ├── calib_cam_to_pose.txt
│  ├── calib_cam_to_velo.txt
│  ├── calib_sick_to_velo.txt
│  ├── image_02.yaml
│  ├── image_03.yaml
│  └── perspective.txt
│
├── data_3d_raw
│   ├ 2013_05_28_drive_00xx_sync
│   │ ├── cam0_to_world.txt
│   │ ├── poses.txt
│   │ └── velodyne_points
│   │    ├── timestamps.txt
│   │    └── data
│   │         ├── 0000000000.bin
│   │         ├── 0000000001.bin
... ...           ...
├── data_2d_raw
│   ├── 2013_05_28_drive_00xx_sync
│   │   ├── image_00
│   │   │   ├── data_rect
│   │   │   │   ├ 0000000000.png
│   │   │   │   ├ 0000000001.png
│   │   │   │   ...
│   │   │   └── timestamps.txt
│   │   └── image_01
│   │       ├── data_rect
│   │       │   ├ 0000000000.png
│   │       │   ├ 0000000001.png
│   │       │   ...
│   │       └── timestamps.txt
... ...
├── data_poses/
│   ├── 2013_05_28_drive_00xx_sync
│   │   ├── cam0_to_world.txt
│   │   └── poses.txt
... ...
└──  data_3d_test_slam/
  ├── test_0
  │   └── 2013_05_28_drive_0008_sync
  │       └── velodyne_points
  │           ├── data
  │           └── timestamps.txt
  ├── test_1
  │   └── 2013_05_28_drive_0008_sync
  │       └── velodyne_points
  │           ├── data
  │           └── timestamps.txt
  ├── test_2
  │   └── 2013_05_28_drive_0004_sync
  │       └── velodyne_points
  │           ├── data
  │           └── timestamps.txt
  └── test_3
      └── 2013_05_28_drive_0002_sync
          └── velodyne_points
              ├── data
              └── timestamps.txt

Example base_dir: /mnt/storage/KITTI-360/ (normally read from environment variable KITTI360_DATASET in mola-cli launch files).
Sequences: 01, 02, etc.

Public Functions

Kitti360Dataset()

~Kitti360Dataset() override = default

void spinOnce() override

inline bool hasGroundTruthTrajectory() const override

inline trajectory_t getGroundTruthTrajectory() const override

std::shared_ptr<mrpt::obs::CObservation> getPointCloud(timestep_t step) const

Direct programmatic access to dataset observations. The type of the lidar observation can be either:

mrpt::obs::CObservationPointCloud (clouds_as_organized_points_=false)
mrpt::obs::CObservationRotatingScan (clouds_as_organized_points_=true)

std::shared_ptr<mrpt::obs::CObservationImage> getImage(const unsigned int cam_idx, timestep_t step) const

size_t datasetSize() const override

mrpt::obs::CSensoryFrame::Ptr datasetGetObservations(size_t timestep) const override

inline size_t datasetUI_size() const override

inline size_t datasetUI_lastQueriedTimestep() const override

inline double datasetUI_playback_speed() const override

inline void datasetUI_playback_speed(double speed) override

inline bool datasetUI_paused() const override

inline void datasetUI_paused(bool paused) override

inline void datasetUI_teleport(size_t timestep) override

Public Members

double VERTICAL_ANGLE_OFFSET = mrpt::DEG2RAD(0.205): See: “IMLS-SLAM: scan-to-model matching based on 3D data”, JE Deschaud, 2018.

Protected Functions

void initialize_rds(const Yaml &cfg) override