add kitti dataset and emma ds class

Author: d31003

config/main.yaml

@@ -7,7 +7,7 @@ noisy_train_set: True
 repo_root: "/home/pl22767/Project/MMDA/"
 # repo_root: "/home/po-han/Desktop/Projects/MMDA/"
 
-dataset: "handwriting"
+dataset: "KITTI"
 dataset_level_datasets: [pitts, imagenet, cosmos, sop, tiil, musiccaps, flickr]
 class_level_datasets: [sop]
 object_level_datasets: [pitts, sop]

mmda/liploc/dataloaders/KittiBothDataset.py

@@ -60,13 +60,13 @@ def get_poses(eval_sequence, CFG):
     # get all poses in training
     if len(eval_sequence) == 2:
         pose_file = CFG.data_path + "/" + eval_sequence + "/poses.txt"
-        poses = pd.read_csv(pose_file, header=None, delim_whitespace=True).to_numpy()
+        poses = pd.read_csv(pose_file, header=None, sep="\s+").to_numpy()
         translation_poses = poses[:, [3, 7, 11]]
 
         return translation_poses
     elif len(eval_sequence) == 4:
         pose_file = f"{CFG.data_path_360}/data_poses/2013_05_28_drive_{eval_sequence}_sync/poses.txt"
-        poses = pd.read_csv(pose_file, header=None, delim_whitespace=True).to_numpy()
+        poses = pd.read_csv(pose_file, header=None, sep="\s+").to_numpy()
         # X, Y, Z in Camera Init Frame | (We require Y and Z)
         translation_poses = poses[:, [4, 8, 12]]
         # Hash map of indices to poses