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Read images#

PointcloudDataset Class provides only image data. Example task description yaml file is here.

pointcloud_topics:
  - topic_name: /wamv/sensors/lidars/lidar_wamv_sensor/points
compressed: false

from amber_mcap.dataset.pointcloud_dataset import PointcloudDataset, ReadPointCloudConfig

dataset = PointcloudDataset(
  "(path to rosbag .mcap file)",
  ReadPointCloudConfig.from_yaml_file("(path to rosbag yaml description file)"))