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Add timestamps - KITTI, Rosbag #120

Merged
merged 9 commits into from
Apr 5, 2023
Merged

Add timestamps - KITTI, Rosbag #120

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795db62
Add timestamps for Kitti Odometry Dataset
saurabh1002 Apr 3, 2023
b0f387b
Use same function name as in TUM dataset
saurabh1002 Apr 3, 2023
eb771f0
Merge branch 'PRBonn:main' into main
saurabh1002 Apr 3, 2023
42007f8
Add newline at EOF
saurabh1002 Apr 4, 2023
c02cd1b
Adapt function style for get_frame_timestamps as in the pipeline class
saurabh1002 Apr 4, 2023
84608a8
Add timestamps to rosbag 1
saurabh1002 Apr 4, 2023
01bd845
remove extra func read_timestamps from kitti
saurabh1002 Apr 4, 2023
475f375
FIx style
nachovizzo Apr 5, 2023
353f779
Remove todo
nachovizzo Apr 5, 2023
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6 changes: 5 additions & 1 deletion python/kiss_icp/datasets/kitti.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,10 @@ def _lidar_pose_gt(poses_gt):
poses = poses.reshape((n, 4, 4)) # [N, 4, 4]
return _lidar_pose_gt(poses)

def get_frames_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 = {}
Expand All @@ -101,4 +105,4 @@ def read_calib_file(file_path: str) -> dict:
# The format in KITTI's file is <key>: <f1> <f2> <f3> ...\n -> Remove the ':'
key = tokens[0][:-1]
calib_dict[key] = values
return calib_dict
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return calib_dict