How to use the evo.tools.file_interface.read_kitti_poses_file function in evo

def test_too_many_columns(self):
        self.mock_file.write(u"1 2 3 4 5 6 7 8 9 10 11 12 13")
        self.mock_file.seek(0)
        with self.assertRaises(file_interface.FileInterfaceException):
            file_interface.read_kitti_poses_file(self.mock_file)

def test_too_few_columns_with_trailing_delim(self):
        self.mock_file.write(u"1 2 3 4 5 6 7 8 9 10 11 ")
        self.mock_file.seek(0)
        with self.assertRaises(file_interface.FileInterfaceException):
            file_interface.read_kitti_poses_file(self.mock_file)

elif args.pose_relation == "angle_rad":
        pose_relation = metrics.PoseRelation.rotation_angle_rad

    traj_ref, traj_est, stamps_est = None, None, None
    ref_name, est_name = "", ""
    if args.subcommand == "tum":
        traj_ref, traj_est = file_interface.load_assoc_tum_trajectories(
            args.ref_file,
            args.est_file,
            args.t_max_diff,
            args.t_offset,
        )
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "kitti":
        traj_ref = file_interface.read_kitti_poses_file(args.ref_file)
        traj_est = file_interface.read_kitti_poses_file(args.est_file)
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "euroc":
        args.align = True
        logger.info("forcing trajectory alignment implicitly (EuRoC ground truth is in IMU frame)")
        logger.debug(SEP)
        traj_ref, traj_est = file_interface.load_assoc_euroc_trajectories(
            args.state_gt_csv,
            args.est_file,
            args.t_max_diff,
            args.t_offset,
        )
        ref_name, est_name = args.state_gt_csv, args.est_file
    elif args.subcommand == "bag":
        import rosbag
        logger.debug("opening bag file " + args.bag)
        bag = rosbag.Bag(args.bag, 'r')

if args.subcommand == "tum":
        for traj_file in args.traj_files:
            if traj_file == args.ref:
                continue
            trajectories[traj_file] = file_interface.read_tum_trajectory_file(
                traj_file)
        if args.ref:
            ref_traj = file_interface.read_tum_trajectory_file(args.ref)
    elif args.subcommand == "kitti":
        for pose_file in args.pose_files:
            if pose_file == args.ref:
                continue
            trajectories[pose_file] = file_interface.read_kitti_poses_file(
                pose_file)
        if args.ref:
            ref_traj = file_interface.read_kitti_poses_file(args.ref)
    elif args.subcommand == "euroc":
        for csv_file in args.state_gt_csv:
            if csv_file == args.ref:
                continue
            else:
                trajectories[
                    csv_file] = file_interface.read_euroc_csv_trajectory(
                        csv_file)
        if args.ref:
            ref_traj = file_interface.read_euroc_csv_trajectory(args.ref)
    elif args.subcommand == "bag":
        if not (args.topics or args.all_topics):
            die("No topics used - specify topics or set --all_topics.")
        if not os.path.exists(args.bag):
            raise file_interface.FileInterfaceException(
                "File doesn't exist: {}".format(args.bag))

"""

import logging
import sys

import evo.core.lie_algebra as lie
from evo.core import trajectory
from evo.tools import plot, file_interface, log

import numpy as np
import matplotlib.pyplot as plt

logger = logging.getLogger("evo")
log.configure_logging(verbose=True)

traj_ref = file_interface.read_kitti_poses_file("../test/data/KITTI_00_gt.txt")
traj_est = file_interface.read_kitti_poses_file(
    "../test/data/KITTI_00_ORB.txt")

# add artificial Sim(3) transformation
traj_est.transform(lie.se3(np.eye(3), [0, 0, 0]))
traj_est.scale(0.5)

logger.info("\nUmeyama alignment without scaling")
traj_est_aligned = trajectory.align_trajectory(traj_est, traj_ref)

logger.info("\nUmeyama alignment with scaling")
traj_est_aligned_scaled = trajectory.align_trajectory(traj_est, traj_ref,
                                                      correct_scale=True)

logger.info("\nUmeyama alignment with scaling only")
traj_est_aligned_only_scaled = trajectory.align_trajectory(

from evo.tools import file_interface
    trajectories = OrderedDict()
    ref_traj = None
    if args.subcommand == "tum":
        for traj_file in args.traj_files:
            if traj_file == args.ref:
                continue
            trajectories[traj_file] = file_interface.read_tum_trajectory_file(
                traj_file)
        if args.ref:
            ref_traj = file_interface.read_tum_trajectory_file(args.ref)
    elif args.subcommand == "kitti":
        for pose_file in args.pose_files:
            if pose_file == args.ref:
                continue
            trajectories[pose_file] = file_interface.read_kitti_poses_file(
                pose_file)
        if args.ref:
            ref_traj = file_interface.read_kitti_poses_file(args.ref)
    elif args.subcommand == "euroc":
        for csv_file in args.state_gt_csv:
            if csv_file == args.ref:
                continue
            else:
                trajectories[
                    csv_file] = file_interface.read_euroc_csv_trajectory(
                        csv_file)
        if args.ref:
            ref_traj = file_interface.read_euroc_csv_trajectory(args.ref)
    elif args.subcommand == "bag":
        if not (args.topics or args.all_topics):
            die("No topics used - specify topics or set --all_topics.")

pose_relation = metrics.PoseRelation.rotation_angle_deg
    elif args.pose_relation == "angle_rad":
        pose_relation = metrics.PoseRelation.rotation_angle_rad

    traj_ref, traj_est, stamps_est = None, None, None
    ref_name, est_name = "", ""
    if args.subcommand == "tum":
        traj_ref, traj_est = file_interface.load_assoc_tum_trajectories(
            args.ref_file,
            args.est_file,
            args.t_max_diff,
            args.t_offset,
        )
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "kitti":
        traj_ref = file_interface.read_kitti_poses_file(args.ref_file)
        traj_est = file_interface.read_kitti_poses_file(args.est_file)
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "euroc":
        args.align = True
        logger.info("forcing trajectory alignment implicitly (EuRoC ground truth is in IMU frame)")
        logger.debug(SEP)
        traj_ref, traj_est = file_interface.load_assoc_euroc_trajectories(
            args.state_gt_csv,
            args.est_file,
            args.t_max_diff,
            args.t_offset,
        )
        ref_name, est_name = args.state_gt_csv, args.est_file
    elif args.subcommand == "bag":
        import rosbag
        logger.debug("opening bag file " + args.bag)

def load_trajectories(args):
    from evo.core import sync
    from evo.tools import file_interface

    if args.subcommand == "tum":
        traj_ref = file_interface.read_tum_trajectory_file(args.ref_file)
        traj_est = file_interface.read_tum_trajectory_file(args.est_file)
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "kitti":
        traj_ref = file_interface.read_kitti_poses_file(args.ref_file)
        traj_est = file_interface.read_kitti_poses_file(args.est_file)
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "euroc":
        traj_ref = file_interface.read_euroc_csv_trajectory(args.state_gt_csv)
        traj_est = file_interface.read_tum_trajectory_file(args.est_file)
        ref_name, est_name = args.state_gt_csv, args.est_file
    elif args.subcommand == "bag":
        import os
        logger.debug("Opening bag file " + args.bag)
        if not os.path.exists(args.bag):
            raise file_interface.FileInterfaceException(
                "File doesn't exist: {}".format(args.bag))
        import rosbag
        bag = rosbag.Bag(args.bag, 'r')
        try:
            traj_ref = file_interface.read_bag_trajectory(bag, args.ref_topic)

def load_trajectories(args):
    from evo.core import sync
    from evo.tools import file_interface

    if args.subcommand == "tum":
        traj_ref = file_interface.read_tum_trajectory_file(args.ref_file)
        traj_est = file_interface.read_tum_trajectory_file(args.est_file)
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "kitti":
        traj_ref = file_interface.read_kitti_poses_file(args.ref_file)
        traj_est = file_interface.read_kitti_poses_file(args.est_file)
        ref_name, est_name = args.ref_file, args.est_file
    elif args.subcommand == "euroc":
        traj_ref = file_interface.read_euroc_csv_trajectory(args.state_gt_csv)
        traj_est = file_interface.read_tum_trajectory_file(args.est_file)
        ref_name, est_name = args.state_gt_csv, args.est_file
    elif args.subcommand == "bag":
        import os
        logger.debug("Opening bag file " + args.bag)
        if not os.path.exists(args.bag):
            raise file_interface.FileInterfaceException(
                "File doesn't exist: {}".format(args.bag))
        import rosbag
        bag = rosbag.Bag(args.bag, 'r')
        try:
            traj_ref = file_interface.read_bag_trajectory(bag, args.ref_topic)
            traj_est = file_interface.read_bag_trajectory(bag, args.est_topic)