Use string

python/kiss_icp/datasets/kitti.py

@@ -27,16 +27,16 @@
 
 
 class KITTIOdometryDataset:
-    def __init__(self, data_dir, sequence: int, *_, **__):
-        self.sequence_id = str(int(sequence)).zfill(2)
+    def __init__(self, data_dir, sequence: str, *_, **__):
+        self.sequence_id = sequence.zfill(2)
         self.kitti_sequence_dir = os.path.join(data_dir, "sequences", self.sequence_id)
         self.velodyne_dir = os.path.join(self.kitti_sequence_dir, "velodyne/")
 
         self.scan_files = sorted(glob.glob(self.velodyne_dir + "*.bin"))
         self.calibration = self.read_calib_file(os.path.join(self.kitti_sequence_dir, "calib.txt"))
 
         # Load GT Poses (if available)
-        if sequence < 11:
+        if int(sequence) < 11:
             self.poses_fn = os.path.join(data_dir, f"poses/{self.sequence_id}.txt")
             self.gt_poses = self.load_poses(self.poses_fn)
 

python/kiss_icp/datasets/kitti_raw.py

@@ -28,23 +28,23 @@
 import numpy as np
 
 __raw_to_odometry_mapping__ = {
-    0: "2011_10_03/2011_10_03_drive_0027_sync/",
-    1: "2011_10_03/2011_10_03_drive_0042_sync/",
-    2: "2011_10_03/2011_10_03_drive_0034_sync/",
-    4: "2011_09_30/2011_09_30_drive_0016_sync/",
-    5: "2011_09_30/2011_09_30_drive_0018_sync/",
-    6: "2011_09_30/2011_09_30_drive_0020_sync/",
-    7: "2011_09_30/2011_09_30_drive_0027_sync/",
-    8: "2011_09_30/2011_09_30_drive_0028_sync/",
-    9: "2011_09_30/2011_09_30_drive_0033_sync/",
-    10: "2011_09_30/2011_09_30_drive_0034_sync/",
+    "00": "2011_10_03/2011_10_03_drive_0027_sync/",
+    "01": "2011_10_03/2011_10_03_drive_0042_sync/",
+    "02": "2011_10_03/2011_10_03_drive_0034_sync/",
+    "04": "2011_09_30/2011_09_30_drive_0016_sync/",
+    "05": "2011_09_30/2011_09_30_drive_0018_sync/",
+    "06": "2011_09_30/2011_09_30_drive_0020_sync/",
+    "07": "2011_09_30/2011_09_30_drive_0027_sync/",
+    "08": "2011_09_30/2011_09_30_drive_0028_sync/",
+    "09": "2011_09_30/2011_09_30_drive_0033_sync/",
+    "10": "2011_09_30/2011_09_30_drive_0034_sync/",
 }
 
 
 class KITTIRawDataset:
-    def __init__(self, data_dir: Path, sequence: int, *_, **__):
-        self.sequence_id = str(int(sequence)).zfill(2)
-        self.root_dir = os.path.realpath(data_dir / __raw_to_odometry_mapping__[sequence])
+    def __init__(self, data_dir: Path, sequence: str, *_, **__):
+        self.sequence_id = sequence.zfill(2)
+        self.root_dir = os.path.realpath(data_dir / __raw_to_odometry_mapping__[self.sequence_id])
         self.date_id = self.root_dir.split("/")[-2]
         self.valid_idx = self.get_benchmark_indices(self.sequence_id)
 

python/kiss_icp/datasets/nuscenes.py

@@ -30,7 +30,7 @@
 
 
 class NuScenesDataset:
-    def __init__(self, data_dir: Path, sequence: int, *_, **__):
+    def __init__(self, data_dir: Path, sequence: str, *_, **__):
         try:
             importlib.import_module("nuscenes")
         except ModuleNotFoundError:
@@ -49,7 +49,7 @@ def __init__(self, data_dir: Path, sequence: int, *_, **__):
         from nuscenes.nuscenes import NuScenes
         from nuscenes.utils.splits import create_splits_logs
 
-        self.sequence_id = str(int(sequence)).zfill(4)
+        self.sequence_id = sequence.zfill(4)
 
         self.nusc = NuScenes(dataroot=str(data_dir), version=nusc_version)
         self.scene_name = f"scene-{self.sequence_id}"

python/kiss_icp/tools/cmd.py

@@ -164,7 +164,7 @@ def kiss_icp_pipeline(
         help="[Optional] Open an online visualization of the KISS-ICP pipeline",
         rich_help_panel="Additional Options",
     ),
-    sequence: Optional[int] = typer.Option(
+    sequence: Optional[str] = typer.Option(
         None,
         "--sequence",
         "-s",