Normalizization happen in pipeline

PRBonn · Jan 26, 2025 · 5d07460 · 5d07460
1 parent 7879b7d
commit 5d07460
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/python/kiss_icp/tools/point_cloud2.py b/python/kiss_icp/tools/point_cloud2.py
@@ -81,13 +81,10 @@ def read_point_cloud(msg: PointCloud2) -> Tuple[np.ndarray, np.ndarray]:
     points = points[~np.any(np.isnan(points), axis=1)]
 
     if t_field:
-        timestamps = points_structured[t_field].astype(np.float64)
-        min_timestamp = np.min(timestamps)
-        max_timestamp = np.max(timestamps)
-        timestamps = (timestamps - min_timestamp) / (max_timestamp - min_timestamp)
+        timestamps = points_structured[t_field]
     else:
         timestamps = np.array([])
-    return points.astype(np.float64), timestamps
+    return points.astype(np.float64), timestamps.astype(np.float64)
 
 
 def read_points(