Expose velodyne-to-unrectified-cam0 transformation

pykitti/raw.py

@@ -130,7 +130,6 @@ def _load_calib_rigid(self, filename):
         filepath = os.path.join(self.calib_path, filename)
         data = utils.read_calib_file(filepath)
         return utils.transform_from_rot_trans(data['R'], data['T'])
-
 
     def _load_calib_cam_to_cam(self, velo_to_cam_file, cam_to_cam_file):
         # We'll return the camera calibration as a dictionary
@@ -139,6 +138,7 @@ def _load_calib_cam_to_cam(self, velo_to_cam_file, cam_to_cam_file):
         # Load the rigid transformation from velodyne coordinates
         # to unrectified cam0 coordinates
         T_cam0unrect_velo = self._load_calib_rigid(velo_to_cam_file)
+        data['T_cam0_velo_unrect'] = T_cam0unrect_velo
 
         # Load and parse the cam-to-cam calibration data
         cam_to_cam_filepath = os.path.join(self.calib_path, cam_to_cam_file)
@@ -149,13 +149,12 @@ def _load_calib_cam_to_cam(self, velo_to_cam_file, cam_to_cam_file):
         P_rect_10 = np.reshape(filedata['P_rect_01'], (3, 4))
         P_rect_20 = np.reshape(filedata['P_rect_02'], (3, 4))
         P_rect_30 = np.reshape(filedata['P_rect_03'], (3, 4))
-        
+
         data['P_rect_00'] = P_rect_00
         data['P_rect_10'] = P_rect_10
         data['P_rect_20'] = P_rect_20
         data['P_rect_30'] = P_rect_30
 
-
         # Create 4x4 matrices from the rectifying rotation matrices
         R_rect_00 = np.eye(4)
         R_rect_00[0:3, 0:3] = np.reshape(filedata['R_rect_00'], (3, 3))
@@ -165,7 +164,7 @@ def _load_calib_cam_to_cam(self, velo_to_cam_file, cam_to_cam_file):
         R_rect_20[0:3, 0:3] = np.reshape(filedata['R_rect_02'], (3, 3))
         R_rect_30 = np.eye(4)
         R_rect_30[0:3, 0:3] = np.reshape(filedata['R_rect_03'], (3, 3))
-        
+
         data['R_rect_00'] = R_rect_00
         data['R_rect_10'] = R_rect_10
         data['R_rect_20'] = R_rect_20

setup.py

@@ -2,12 +2,12 @@
 
 setup(
     name='pykitti',
-    version='0.2.2',
+    version='0.2.3',
     description='A minimal set of tools for working with the KITTI dataset in Python',
     author='Lee Clement',
     author_email='[email protected]',
     url='https://github.com/utiasSTARS/pykitti',
-    download_url='https://github.com/utiasSTARS/pykitti/tarball/0.2.2',
+    download_url='https://github.com/utiasSTARS/pykitti/tarball/0.2.3',
     license='MIT',
     packages=['pykitti'],
     install_requires=['numpy', 'matplotlib']