Method get_timestamps

python/map_closures/datasets/mulran.py:55–58

()

    @staticmethod
    def get_timestamps():
        H = 64
        W = 1024
        return (np.floor(np.arange(H * W) / H) / W).reshape(-1, 1)

    def load_gt_poses(self, poses_file: str):
        """MuRan has more poses than scans, therefore we need to match 1-1 timestamp with pose"""