Add timestamps - KITTI, Rosbag

python/kiss_icp/datasets/kitti.py

@@ -34,6 +34,7 @@ def __init__(self, data_dir, sequence: int, *_, **__):
 
         self.scan_files = sorted(glob.glob(self.velodyne_dir + "*.bin"))
         self.calibration = self.read_calib_file(os.path.join(self.kitti_sequence_dir, "calib.txt"))
+        self.timestamps = self.read_timestamps(os.path.join(self.kitti_sequence_dir, "times.txt"))
 
         # Load GT Poses (if available)
         if sequence < 11:
@@ -85,6 +86,14 @@ def _lidar_pose_gt(poses_gt):
         poses = poses.reshape((n, 4, 4))  # [N, 4, 4]
         return _lidar_pose_gt(poses)
 
+    def get_frames_timestamps(self) -> np.ndarray:
+        return self.timestamps
+
+    @staticmethod
+    def read_timestamps(file_path: str) -> np.ndarray:
+        timestamps = np.loadtxt(file_path).reshape(-1, 1)
+        return timestamps
+
     @staticmethod
     def read_calib_file(file_path: str) -> dict:
         calib_dict = {}
@@ -102,3 +111,4 @@ def read_calib_file(file_path: str) -> dict:
                     key = tokens[0][:-1]
                     calib_dict[key] = values
         return calib_dict
+