rko_lio.util module

rko_lio.util.error(*args)

rko_lio.util.error_and_exit(*args)

rko_lio.util.info(*args)

rko_lio.util.quat_xyzw_xyz_to_transform(quat_xyzw_xyz: np.ndarray | list | None) → numpy.ndarray

Convert [qx, qy, qz, qw, x, y, z] to 4x4 transform.

rko_lio.util.save_scan_as_ply(scan: numpy.ndarray, end_time_ns: int, output_dir: Path)

dumps the scan as PLY, in the base frame, matching the dumped trajectory. The filename is <nanoseconds_as_int>.ply.

rko_lio.util.transform_to_quat_xyzw_xyz(T: numpy.ndarray)

Convert 4x4 transform matrix to [qx, qy, qz, qw, x, y, z].

rko_lio.util.warning(*args)