odometry.py 文件源码

def load_poses(self):
        """Load ground truth poses from file."""
        print('Loading poses for sequence ' + self.sequence + '...')

        pose_file = os.path.join(self.pose_path, self.sequence + '.txt')

        # Read and parse the poses
        try:
            self.T_w_cam0 = []
            with open(pose_file, 'r') as f:
                for line in f.readlines():
                    T = np.fromstring(line, dtype=float, sep=' ')
                    T = T.reshape(3, 4)
                    T = np.vstack((T, [0, 0, 0, 1]))
                    self.T_w_cam0.append(T)
            print('done.')

        except FileNotFoundError:
            print('Ground truth poses are not avaialble for sequence ' +
                  self.sequence + '.')