Add code.

poles/kittiwrapper.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+import os
+
+import numpy
+import pykitti
+
+import kittidrives
+import util
+
+
+class kittiwrapper:
+    def __init__(self, datadir):
+        self.ododir = os.path.join(datadir, 'odometry')
+        self.rawdir = os.path.join(datadir, 'raw_data')
+
+    def sequence(self, i):
+        if 0 <= i < 11:
+            sequence = pykitti.odometry(self.ododir, '{:02d}'.format(i))
+            sequence.poses = numpy.array(sequence.poses)
+        else:
+            drive = kittidrives.drives[i - 11]
+            sequence = pykitti.raw(self.rawdir, drive['date'], drive['drive'])
+            T_imu_cam0 = util.invert_ht(sequence.calib.T_cam0_imu)
+            sequence.poses = numpy.array(
+                [numpy.matmul(oxts.T_w_imu, T_imu_cam0) \
+                    for oxts in sequence.oxts])
+        return sequence