From 9378416c5c6373765cfd0483233af55afe65b619 Mon Sep 17 00:00:00 2001
From: Benedikt Mersch <benedikt.mersch@gmail.com>
Date: Mon, 14 Apr 2025 10:32:48 +0200
Subject: [PATCH] Fix

---
 pyproject.toml              | 2 +-
 src/mos4d/datasets/kitti.py | 3 +--
 src/mos4d/odometry.py       | 2 +-
 3 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 552e40f..1e84bc3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -8,7 +8,7 @@ authors = [
 ]
 license = { file = "LICENSE" }
 dependencies = [
-    "kiss-icp>=1.2.0",
+    "kiss-icp>=1.2.3",
     "diskcache>=5.3.0",
     "pytorch_lightning>=1.6.4",
 ]
diff --git a/src/mos4d/datasets/kitti.py b/src/mos4d/datasets/kitti.py
index 9dfcaa9..9892ffe 100644
--- a/src/mos4d/datasets/kitti.py
+++ b/src/mos4d/datasets/kitti.py
@@ -52,8 +52,7 @@ def __init__(self, data_dir, sequence: str, *_, **__):
         self.label_files = sorted(glob.glob(self.label_dir + "*.label"))
 
     def __getitem__(self, idx):
-        points = self.scans(idx)
-        timestamps = np.zeros(len(points))
+        points, timestamps = self.scans(idx)
         labels = (
             self.read_labels(self.label_files[idx])
             if self.label_files
diff --git a/src/mos4d/odometry.py b/src/mos4d/odometry.py
index 85fe4bc..455a67f 100644
--- a/src/mos4d/odometry.py
+++ b/src/mos4d/odometry.py
@@ -93,7 +93,7 @@ def deskew(self, points, timestamps, relative_motion):
             np.asarray(
                 mos4d_pybind._deskew(
                     frame=mos4d_pybind._Vector3dVector(points),
-                    timestamps=timestamps,
+                    timestamps=timestamps.ravel(),
                     relative_motion=relative_motion,
                 )
             )