Given Nx3 array of points, return Nx3 array of RGB colors (dtype uint8) mapped from the z values using the colormap. Default colormap is

Can be useful for introspecting some IMU details.

return the local map point cloud *in world/odometry frame*

Merge CLI and file parameters: - CLI overrides file values only if non-empty - Validate required params are provided (depending on mo

Parse an extrinsic calibration .txt file into a transform matrix. Assumes: - Inside the [ ] brackets, numbers are always space-separated

Parse LiDAR_extrinsic.txt for the block matching 'Ouster - <target_sensor>' and return it as a matrix. Assumes inside Rotation and Trans

Decide which RViz config to use. If rviz_config_file is not the default, just return it. Otherwise, patch the default config with base_fr

Read points from a sensor_msgs.PointCloud2 message. :param cloud: The point cloud to read from sensor_msgs.PointCloud2. :param field_name

Register a lidar scan. Timestamps are assumed to be absolute nanoseconds. It is assumed there is sufficient IMU data added to

dumps the scan as PLY. The filename is <nanoseconds_as_int>.ply.

The timestamps are either in seconds or in nanoseconds, otherwise the user needs to specify the multiplier

BufferableBag-----------------------------------------------------------------------------------

TFBridge----------------------------------------------------------------------------------------

Run RKO_LIO with the selected dataloader and parameters.

Return (T_imu_to_base, T_lidar_to_base) for this sequence.

Explicitly finish timing and update aggregated statistics.