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Add mandeye dataset - #89
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michalpelka wants to merge 2 commits into
Open
michalpelka wants to merge 2 commits into
michalpelka wants to merge 2 commits into
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Adds the Mandeye handheld scanner (Livox Mid-360 + internal IMU) as a dataset, reading the raw Mandeye chunks (lidarNNNN.laz, imuNNNN.csv) and cutting them into 0.1 s scans. First sequence: mandeye/underground_parking from MichalPelka/UndegroundParkingDataset. Sequences are entries in a table, so further Mandeye recordings and a ground truth trajectory (HDMapping TUM export) can be added there. Adds laspy[lazrs] for reading LAZ. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Point mandeye/underground_parking at ground-truth/trajectory.tum in the Hugging Face repo: IMU-rate poses in the TLS frame (lidar frame, lidar clock) from HDMapping step 3 registration against the Z+F scan. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Thanks for the PR! At first glance this looks great. I'll give it a more in-depth look tomorrow. |
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Introduce dataset https://huggingface.co/datasets/MichalPelka/UndegroundParkingDataset