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Functions126 in github.com/bexcite/ptudes-lab

⨍ Functions 126◇ Types & classes 16

Methodlocal_map_points

src/ptudes/kiss.py:166

src/ptudes/bag.py:99

Return metadata from the underlying PacketSource.

src/ptudes/data.py:89

Get current NavState of the filter

src/ptudes/ins/es_ekf.py:182

src/ptudes/viz_utils.py:92

Get the last pose

src/ptudes/kiss.py:149

Cloud pose, 4x4 matrix

src/ptudes/viz_utils.py:81

src/ptudes/kiss.py:156

src/ptudes/kiss.py:161

Functionptudes_ekf_bench

ES EKF benchmarks and experiments. Experiments with Error-state kalman filters and IMU mechanizations.

src/ptudes/cli/ekf_bench.py:36

Functionptudes_ekf_cmp

Compare trajectories in Newer College Dataset Formats

src/ptudes/cli/ekf_bench.py:683

Functionptudes_ekf_nc

EKF with Newer College Dataset IMUs topics. Ground truth (--gt-file) is used for pose correction.

src/ptudes/cli/ekf_bench.py:220

Functionptudes_ekf_ouster

EKF with Ouster IMUs PCAP/BAG and scan KissICP poses updates. Essentially a smoothing action to the KissICP trajectory output, which is not e

src/ptudes/cli/ekf_bench.py:381

Functionptudes_ekf_sim

EKF with simulated IMU measurements. Noise/bias free integrated measurements used as ground truth for pose corrections (ekf updates).

src/ptudes/cli/ekf_bench.py:107

Functionptudes_flyby

Flyby 3d visualizer over the lidar scans with poses. Data is provided via FILE in Ouster raw packets formats: PCAP or BAG with lidar/imu pack

src/ptudes/cli/flyby.py:59

Functionptudes_stat

Ouster BAGS/PCAP data source stats Calculates scans range and imu acc/gyr statistics for --duration seconds. Data is provided via FILE i

src/ptudes/cli/stat.py:53

Functionptudes_viz

Ouster Lidar BAGS/PCAP 3d visualizer Data is provided via FILE in Ouster raw packets formats: PCAP or BAG with lidar/imu packets. For exampl

src/ptudes/cli/viz.py:29

Methodrange_mean

src/ptudes/ins/data.py:339

Methodrange_std

src/ptudes/ins/data.py:343

Toggle the cloud visibility (i.e. presence in the viz)

src/ptudes/viz_utils.py:72

src/ptudes/bag.py:95

Get current (last) processed timestamp

src/ptudes/ins/es_ekf.py:187

(self, dt: float, viz: PointViz)

src/ptudes/fly.py:76

(self, dt: float, viz: PointViz)

src/ptudes/fly.py:161

(self, dt: float, viz: PointViz)

src/ptudes/fly.py:224

Get linear velocity estimate from kiss icp poses

src/ptudes/kiss.py:140

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