How to obtain the relative timestamps? about ct_icp HOT 4 OPEN

Hi,

The timestamps the frame are indeed set between 0 and 1, but all datasets are acquired at a frequency of 10Hz.
To obtain the real timestamps, thus you can use the following formula:

$t_a = t_r * 0.1 + 0.1 * I_{frame}$

Where $I_{frame}$ is the index of the frame, and $t_r$ the relative timestamp.

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Thank you very much for your reply.

According to the formula you provided, when we can obtain the real timestamp of each point in a frame of point cloud, the relative timestamp can be further calculated, and the range is within [0,1].

However, the point cloud in KITTI-raw is stored in txt format and provides [x, y, z, intensity]. So, how is the real timestamp ta obtained?

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