The KITTI raw contains oxts measurements of the vehicle and can be used as poses for the raw sequence. The raw dev-kit contains a matlab/octave script for transforming oxts measurements to poses. In this script we provide some modification of the code and some scripts that personally get used to make this poses available to python, and it goes with the kitti_visualize repo and other repo we are working with.
The output will be a "pose.mat" under every {seq_dir}/oxts folder. We also provide python APIs to read this matrix.
All we will do here: