How to obtain ego pose data from raw IMU data?

[whyekit-motional]

@poodarchu with the nuScenes CAN bus expansion, you can try:

import matplotlib.pyplot as plt
import numpy as np

from nuscenes.can_bus.can_bus_api import NuScenesCanBus

nusc_can = NuScenesCanBus(dataroot='/data/sets/nuscenes')

scene_name = 'scene-0001'

poses = []
for data in nusc_can.get_messages(scene_name, 'pose'):
    poses.append(data['pos'])
poses = np.array(poses)