utils.py

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#!/usr/bin/env python
 
# ==============================================================================
# MIT License
#
# Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University
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LEAP_SECONDS_SINCE_2004 = int(5)
UNIX_SECONDS_2004 = int(1072915200)
 
def get_t_its(unix_nanoseconds):
    return int(unix_nanoseconds * 1e-6 + LEAP_SECONDS_SINCE_2004 * 1e3 - UNIX_SECONDS_2004 * 1e3)