map-closures 1.0.1__tar.gz

map_closures-1.0.1/CMakeLists.txt

@@ -0,0 +1,37 @@
+# MIT License
+#
+# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
+# Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+cmake_minimum_required(VERSION 3.16...3.26)
+project(map_closure_pybind VERSION 1.0.1 LANGUAGES CXX)
+
+# Set build type
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+set(PYBIND11_NEWPYTHON ON)
+find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
+find_package(pybind11 CONFIG REQUIRED)
+
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../cpp/ ${CMAKE_CURRENT_BINARY_DIR}/map_closures)
+
+add_subdirectory(map_closures/pybind)

map_closures-1.0.1/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo, Cyrill Stachniss
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

map_closures-1.0.1/MANIFEST.in

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+recursive-include map_closures *.py
+recursive-include map_closures *.cpp
+recursive-include map_closures *.hpp
+recursive-include map_closures *.h
+global-include CMakeLists.txt
+global-include LICENSE
+global-include *.cmake

map_closures-1.0.1/PKG-INFO

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+Metadata-Version: 2.1
+Name: map_closures
+Version: 1.0.1
+Summary: Effectively Detecting Loop Closures using Point Cloud Density Maps
+Keywords: Loop Closures,Localization,SLAM,LiDAR
+Author: Saurabh Gupta, Tiziano Guadagnino
+Project-URL: Homepage, https://github.com/PRBonn/MapClosures
+Requires-Python: >=3.8
+Requires-Dist: kiss-icp>=1.0.0
+Requires-Dist: numpy<2.0.0
+Requires-Dist: pyquaternion
+Requires-Dist: pydantic>=2
+Requires-Dist: pydantic-settings
+Requires-Dist: tqdm
+Requires-Dist: typer[all]>=0.6.0
+Requires-Dist: rich
+Requires-Dist: typing_extensions
+Requires-Dist: open3d>0.13; extra == "all"
+Requires-Dist: PyYAML; extra == "all"
+Requires-Dist: mcap-ros2-support; extra == "all"
+Requires-Dist: rosbags; extra == "all"
+Requires-Dist: trimesh; extra == "all"
+Requires-Dist: ouster-sdk; extra == "all"
+Requires-Dist: pyntcloud; extra == "all"
+Requires-Dist: polyscope; extra == "visualizer"
+Requires-Dist: matplotlib>3.9.2; extra == "visualizer"
+Provides-Extra: all
+Provides-Extra: visualizer
+Description-Content-Type: text/markdown

map_closures-1.0.1/map_closures/__init__.py

@@ -0,0 +1,24 @@
+# MIT License
+#
+# Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
+# Ignacio Vizzo, Cyrill Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+__version__ = "1.0.1"

map_closures-1.0.1/map_closures/config/__init__.py

@@ -0,0 +1,24 @@
+# MIT License
+#
+# Copyright (c) 2023 Saurabh Gupta, Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch,
+# Cyrill Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+from .config import MapClosuresConfig, load_config, write_config

map_closures-1.0.1/map_closures/config/config.py

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+# MIT License
+#
+# Copyright (c) 2023 Saurabh Gupta, Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch,
+# Cyrill Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+from __future__ import annotations
+
+import importlib
+import sys
+from pathlib import Path
+from typing import Optional
+
+from pydantic import BaseModel
+
+
+class MapClosuresConfig(BaseModel):
+    density_map_resolution: float = 0.5
+    density_threshold: float = 0.05
+    hamming_distance_threshold: int = 50
+    inliers_threshold: int = 10
+    local_map_factor: float = 1.0
+
+
+def load_config(config_file: Optional[Path]) -> MapClosuresConfig:
+    """Load configuration from an Optional yaml file. Additionally, deskew and max_range can be
+    also specified from the CLI interface"""
+
+    config = None
+    if config_file is not None:
+        try:
+            yaml = importlib.import_module("yaml")
+        except ModuleNotFoundError:
+            print(
+                "[ERROR] Custom configuration file specified but PyYAML is not installed on your system,"
+                " run `pip install pyyaml`"
+            )
+            sys.exit(1)
+        with open(config_file) as cfg_file:
+            config = yaml.safe_load(cfg_file)
+        return MapClosuresConfig(**config)
+    else:
+        return MapClosuresConfig()
+
+
+def write_config(config: MapClosuresConfig, filename: str):
+    with open(filename, "w") as outfile:
+        try:
+            yaml = importlib.import_module("yaml")
+            yaml.dump(config.model_dump(), outfile, default_flow_style=False)
+        except ModuleNotFoundError:
+            outfile.write(str(config.model_dump()))

map_closures-1.0.1/map_closures/datasets/__init__.py

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+# MIT License
+#
+# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
+# Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+from pathlib import Path
+from typing import Dict, List
+
+
+def supported_file_extensions():
+    return [
+        "bin",
+        "pcd",
+        "ply",
+        "xyz",
+        "obj",
+        "ctm",
+        "off",
+        "stl",
+    ]
+
+
+def sequence_dataloaders():
+    return ["kitti", "helipr"]
+
+
+def eval_dataloaders():
+    return ["kitti", "helipr", "mulran", "ncd", "apollo"]
+
+
+def available_dataloaders() -> List:
+    import os.path
+    import pkgutil
+
+    pkgpath = os.path.dirname(__file__)
+    return [name for _, name, _ in pkgutil.iter_modules([pkgpath])]
+
+
+def dataloader_types() -> Dict:
+    import ast
+    import importlib
+
+    dataloaders = available_dataloaders()
+    _types = {}
+    for dataloader in dataloaders:
+        script = importlib.util.find_spec(f".{dataloader}", __name__).origin
+        with open(script) as f:
+            tree = ast.parse(f.read(), script)
+            classes = [cls for cls in tree.body if isinstance(cls, ast.ClassDef)]
+            _types[dataloader] = classes[0].name  # assuming there is only 1 class
+    return _types
+
+
+def dataset_factory(dataloader: str, data_dir: Path, *args, **kwargs):
+    import importlib
+
+    dataloader_type = dataloader_types()[dataloader]
+    module = importlib.import_module(f".{dataloader}", __name__)
+    assert hasattr(module, dataloader_type), f"{dataloader_type} is not defined in {module}"
+    dataset = getattr(module, dataloader_type)
+    return dataset(data_dir=data_dir, *args, **kwargs)

map_closures-1.0.1/map_closures/datasets/apollo.py

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+# MIT License
+#
+# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
+# Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+import glob
+import importlib
+import os
+import sys
+from pathlib import Path
+
+import natsort
+import numpy as np
+
+
+class ApolloDataset:
+    def __init__(self, data_dir: Path, *_, **__):
+        try:
+            self.o3d = importlib.import_module("open3d")
+        except ModuleNotFoundError:
+            print(
+                '[ERROR] This dataloader requires open3d but is not installed on your system run "pip install open3d"'
+            )
+            sys.exit(1)
+
+        self.scan_files = natsort.natsorted(glob.glob(f"{data_dir}/pcds/*.pcd"))
+        self.gt_poses = self.read_poses(f"{data_dir}/poses/gt_poses.txt")
+        self.sequence_id = os.path.basename(data_dir)
+        self.sequence_dir = os.path.realpath(data_dir)
+
+    def __len__(self):
+        return len(self.scan_files)
+
+    def __getitem__(self, idx):
+        return self.get_scan(self.scan_files[idx])
+
+    def get_scan(self, scan_file: str):
+        points = np.asarray(self.o3d.io.read_point_cloud(scan_file).points, dtype=np.float64)
+        return points.astype(np.float64)
+
+    @staticmethod
+    def read_poses(file):
+        from pyquaternion import Quaternion
+
+        data = np.loadtxt(file)
+        _, _, translations, qxyzw = np.split(data, [1, 2, 5], axis=1)
+        rotations = np.array(
+            [Quaternion(x=x, y=y, z=z, w=w).rotation_matrix for x, y, z, w in qxyzw]
+        )
+        poses = np.zeros([rotations.shape[0], 4, 4])
+        poses[:, :3, -1] = translations
+        poses[:, :3, :3] = rotations
+        poses[:, -1, -1] = 1
+        # Convert from global coordinate poses to local poses
+        first_pose = poses[0, :, :]
+        return np.linalg.inv(first_pose) @ poses

map_closures-1.0.1/map_closures/datasets/generic.py

@@ -0,0 +1,108 @@
+# MIT License
+#
+# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
+# Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+import os
+import sys
+from pathlib import Path
+
+import natsort
+import numpy as np
+
+from map_closures.datasets import supported_file_extensions
+
+
+class GenericDataset:
+    def __init__(self, data_dir: Path, *_, **__):
+        # Config stuff
+        self.sequence_id = os.path.basename(data_dir)
+        self.scans_dir = os.path.join(os.path.realpath(data_dir), "")
+        self.scan_files = np.array(
+            natsort.natsorted(
+                [
+                    os.path.join(self.scans_dir, fn)
+                    for fn in os.listdir(self.scans_dir)
+                    if any(fn.endswith(ext) for ext in supported_file_extensions())
+                ]
+            ),
+            dtype=str,
+        )
+        if len(self.scan_files) == 0:
+            raise ValueError(f"Tried to read point cloud files in {self.scans_dir} but none found")
+        self.file_extension = self.scan_files[0].split(".")[-1]
+        if self.file_extension not in supported_file_extensions():
+            raise ValueError(f"Supported formats are: {supported_file_extensions()}")
+
+        # Obtain the pointcloud reader for the given data folder
+        self._read_point_cloud = self._get_point_cloud_reader()
+
+    def __len__(self):
+        return len(self.scan_files)
+
+    def __getitem__(self, idx):
+        return self.read_point_cloud(self.scan_files[idx])
+
+    def read_point_cloud(self, file_path: str):
+        points = self._read_point_cloud(file_path)
+        return points.astype(np.float64)
+
+    def _get_point_cloud_reader(self):
+        """Attempt to guess with try/catch blocks which is the best point cloud reader to use for
+        the given dataset folder. Supported readers so far are:
+            - np.fromfile
+            - trimesh.load
+            - PyntCloud
+            - open3d[optional]
+        """
+        # This is easy, the old KITTI format
+        if self.file_extension == "bin":
+            print("[WARNING] Reading .bin files, the only format supported is the KITTI format")
+            return lambda file: np.fromfile(file, dtype=np.float32).reshape((-1, 4))[:, :3]
+
+        first_scan_file = self.scan_files[0]
+
+        # first try trimesh
+        try:
+            import trimesh
+
+            trimesh.load(first_scan_file)
+            return lambda file: np.asarray(trimesh.load(file).vertices)
+        except:
+            pass
+
+        # then try pyntcloud
+        try:
+            from pyntcloud import PyntCloud
+
+            PyntCloud.from_file(first_scan_file)
+            return lambda file: PyntCloud.from_file(file).points[["x", "y", "z"]].to_numpy()
+        except:
+            pass
+
+        # lastly with open3d
+        try:
+            import open3d as o3d
+
+            o3d.io.read_point_cloud(first_scan_file)
+            return lambda file: np.asarray(o3d.io.read_point_cloud(file).points, dtype=np.float64)
+        except:
+            print("[ERROR], File format not supported")
+            sys.exit(1)

map_closures-1.0.1/map_closures/datasets/helipr.py

@@ -0,0 +1,111 @@
+# MIT License
+#
+# Copyright (c) 2024 Saurabh Gupta, Ignacio Vizzo, Tiziano Guadagnino,
+# Benedikt Mersch, Cyrill Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+import glob
+import os
+import struct
+import sys
+from pathlib import Path
+
+import numpy as np
+
+
+class HeLiPRDataset:
+    def __init__(self, data_dir: Path, sequence: str, *_, **__):
+        self.sequence_id = sequence
+        self.sequence_dir = os.path.realpath(data_dir)
+        self.scans_dir = os.path.join(self.sequence_dir, "LiDAR", self.sequence_id)
+        self.scan_files = sorted(glob.glob(self.scans_dir + "/*.bin"))
+
+        self.gt_file = os.path.join(
+            self.sequence_dir, "LiDAR_GT", f"global_{self.sequence_id}_gt.txt"
+        )
+        self.gt_poses = self.load_poses(self.gt_file)
+
+        if len(self.scan_files) == 0:
+            raise ValueError(f"Tried to read point cloud files in {data_dir} but none found")
+
+        # Obtain the pointcloud reader for the given data folder
+        if self.sequence_id == "Avia":
+            self.format_string = "fffBBBL"
+            self.intensity_channel = None
+        elif self.sequence_id == "Aeva":
+            self.format_string = "ffffflBf"
+            self.format_string_no_intensity = "ffffflB"
+            self.intensity_channel = 7
+        elif self.sequence_id == "Ouster":
+            self.format_string = "ffffIHHH"
+            self.intensity_channel = 3
+        elif self.sequence_id == "Velodyne":
+            self.format_string = "ffffHf"
+            self.intensity_channel = 3
+        else:
+            print("[ERROR] Unsupported LiDAR Type")
+            sys.exit(1)
+
+    def __len__(self):
+        return len(self.scan_files)
+
+    def __getitem__(self, idx):
+        return self.read_point_cloud(idx)
+
+    def get_data(self, idx: int):
+        file_path = self.scan_files[idx]
+        list_lines = []
+
+        # Special case, see https://github.com/minwoo0611/HeLiPR-File-Player/blob/e8d95e390454ece1415ae9deb51515f63730c10a/src/ROSThread.cpp#L632
+        if self.sequence_id == "Aeva" and int(Path(file_path).stem) <= 1691936557946849179:
+            self.intensity_channel = None
+            format_string = self.format_string_no_intensity
+        else:
+            format_string = self.format_string
+
+        chunk_size = struct.calcsize(f"={format_string}")
+        with open(file_path, "rb") as f:
+            binary = f.read()
+            offset = 0
+            while offset < len(binary):
+                list_lines.append(struct.unpack_from(f"={format_string}", binary, offset))
+                offset += chunk_size
+        data = np.stack(list_lines)
+        return data
+
+    def read_point_cloud(self, idx: int):
+        data = self.get_data(idx)
+        points = data[:, :3]
+        return points.astype(np.float64)
+
+    def load_poses(self, poses_file):
+        from pyquaternion import Quaternion
+
+        poses = np.loadtxt(poses_file, delimiter=" ")
+        n = poses.shape[0]
+
+        xyz = poses[:, 1:4]
+        rotations = np.array(
+            [Quaternion(x=x, y=y, z=z, w=w).rotation_matrix for x, y, z, w in poses[:, 4:]]
+        )
+        poses = np.eye(4, dtype=np.float64).reshape(1, 4, 4).repeat(self.__len__(), axis=0)
+        poses[:, :3, :3] = rotations
+        poses[:, :3, 3] = xyz
+
+        return poses