Changed timestamp format during KITTI conversion to include nanoseconds. Required for precise data-stamp associations

Author: EmanueleGiacomini

python/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "vbr-devkit"
-version = "0.0.9"
+version = "0.1.0"
 description = "Development kit for VBR SLAM dataset"
 readme = "README.md"
 authors = [

python/vbr_devkit/__init__.py

@@ -1 +1 @@
-__version__ = "0.0.9"
+__version__ = "0.10.0"

python/vbr_devkit/datasets/kitti.py

@@ -83,8 +83,9 @@ def _save_cloud(self, data: PointCloudXf, timestamp, *args, **kwargs):
                 clip_points = np.stack([data.points["x"], data.points["y"], data.points["z"], data.points["intensity"]],
                                        axis=1)
                 clip_points.tofile(dest_path)
-        else:
-            data.points.tofile(dest_path)
+                return
+
+        data.points.tofile(dest_path)
 
     def _save_image(self, data: Image, timestamp: float, *args, **kwargs):
         dest_path = self.data_f / Path(self.format_fn(self.metadata["num_messages"]) + ".png")
@@ -117,7 +118,7 @@ def close(self):
             json.dump(self.metadata, f)
         with self.timestamps_f.open("w") as f:
             f.writelines([
-                str(datetime.fromtimestamp(float(t) / 1e9)) + "\n" for t in self.timestamps])
+                str(np.datetime64(t, "ns")) + "\n" for t in self.timestamps])
 
 
 class KittiWriter: