Scan 2026-10-29_Grotte-Aldene_01 (glim_pg, cube 0.02 m)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+scans/2026-10-29_Grotte-Aldene_01/2026-10-29_Grotte-Aldene_01.copc.laz filter=lfs diff=lfs merge=lfs -text

manifest.json

@@ -0,0 +1,28 @@
+{
+  "version": 1,
+  "repo": "UnderScanner/scans",
+  "base": "https://huggingface.co/datasets/UnderScanner/scans/resolve/main/",
+  "scans": [
+    {
+      "id": "2026-10-29_Grotte-Aldene_01",
+      "titre": "2026-10-29_Grotte-Aldene_01_Glim-PG",
+      "lieu": "Grotte-Aldene",
+      "date": "2026-10-29",
+      "notes": "",
+      "bag": "2026-10-29_Grotte-Aldene_01",
+      "algo": "glim_pg",
+      "run": "2026-10-30_180846_glim-pg_2026-10-29-Grotte-Aldene-01",
+      "duree": "9 min 22 s",
+      "points": 32359193,
+      "cube_m": 0.02,
+      "taille_mo": 258.5,
+      "temps": true,
+      "nuage": "scans/2026-10-29_Grotte-Aldene_01/2026-10-29_Grotte-Aldene_01.copc.laz",
+      "trajectoire": "scans/2026-10-29_Grotte-Aldene_01/trajectory.tum",
+      "info": "scans/2026-10-29_Grotte-Aldene_01/info.json",
+      "publie": "2026-11-10T14:05:10"
+    }
+  ],
+  "bags": {},
+  "mis_a_jour": "2026-11-10T14:05:10"
+}

scans/2026-10-29_Grotte-Aldene_01/2026-10-29_Grotte-Aldene_01.copc.laz

@@ -0,0 +1,3 @@
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+oid sha256:17cb22e8fe23fdf66b8f9fdc129c9fae6f6ba3336ff73ab2a5806226195a6cac
+size 258516606

scans/2026-10-29_Grotte-Aldene_01/info.json

@@ -0,0 +1,52 @@
+{
+  "id": "2026-10-29_Grotte-Aldene_01",
+  "titre": "2026-10-29_Grotte-Aldene_01_Glim-PG",
+  "notes": "",
+  "bag": "2026-10-29_Grotte-Aldene_01",
+  "run": "2026-10-30_180846_glim-pg_2026-10-29-Grotte-Aldene-01",
+  "algo": {
+    "name": "glim_pg",
+    "description": "GLIM CPU graphe de poses (koide3/glim) — fermeture de boucle explicite",
+    "image": "usc/glim:1.2.2",
+    "image_id": "sha256:5ecf05e6e688",
+    "commit": "1.2.2-0jammy (ros-humble-glim-ros)"
+  },
+  "reglages": {
+    "rate": 1.0,
+    "overrides": {},
+    "config_source": "usc/glim:1.2.2:/glim_bench/config_pose_graph.yaml",
+    "config_hash": "3636a5a2fa08ed87"
+  },
+  "config": "config:\n  global: {config_path: '', config_ros: config_ros.json, config_logging: config_logging.json,\n    config_viewer: config_viewer.json, config_sensors: config_sensors.json, config_preprocess: config_preprocess.json,\n    config_odometry: config_odometry_cpu.json, config_sub_mapping: config_sub_mapping_passthrough.json,\n    config_global_mapping: config_global_mapping_pose_graph.json}\nconfig_ros:\n  glim_ros:\n    enable_local_mapping: true\n    enable_global_mapping: true\n    keep_raw_points: false\n    imu_time_offset: 0.0\n    points_time_offset: 0.0\n    acc_scale: 9.80665\n    imu_frame_id: ''\n    lidar_frame_id: ''\n    base_frame_id: ''\n    odom_frame_id: odom\n    map_frame_id: map\n    publish_imu2lidar: true\n    tf_time_offset: 1.0e-06\n    extension_modules: []\n    imu_topic: /livox/imu\n    points_topic: /livox/points\n    image_topic: /image\n    imu_qos: {profile: sensor_data, depth: 1000}\n    points_qos: {profile: default, depth: 100}\n    image_qos: {profile: sensor_data}\nconfig_sensors:\n  sensors:\n    imu_acc_noise: 0.05\n    imu_gyro_noise: 0.02\n    imu_int_noise: 0.001\n    imu_bias_noise: 1.0e-05\n    global_shutter_lidar: false\n    T_lidar_imu: [0.011, 0.02329, -0.04412, 0.0, 0.0, 0.0, 1.0]\n    intensity_field: intensity\n    ring_field: ''\n    autoconf_perpoint_times: true\n    autoconf_prefer_frame_time: false\n    perpoint_relative_time: true\n    perpoint_time_scale: 1.0\n    global_shutter_camera: true\n    image_size: [752, 480]\n    T_lidar_camera: [-0.0032, -0.05292, 0.00108, 0.00837, 0.72559, -0.00328, 0.68807]\n    intrinsics: [815.498895336274, 817.4904316140473, 830.3149255906893, 639.4531613962971]\n    distortion_model: plumb_bob\n    distortion_coeffs: [-0.02295507941388206, 0.0681131726659881, -0.0005798510962983399,\n      0.00128686963241809, -0.03279627881588615]\nconfig_preprocess:\n  preprocess:\n    distance_near_thresh: 0.5\n    distance_far_thresh: 100.0\n    use_random_grid_downsampling: true\n    downsample_resolution: 1.0\n    random_downsample_target: 10000\n    random_downsample_rate: 0.1\n    enable_outlier_removal: false\n    outlier_removal_k: 10\n    outlier_std_mul_factor: 1.0\n    enable_cropbox_filter: false\n    crop_bbox_frame: lidar\n    crop_bbox_min: [-1.0, -1.0, -1.0]\n    crop_bbox_max: [1.0, 1.0, 1.0]\n    k_correspondences: 10\n    num_threads: 2\nconfig_odometry_cpu:\n  odometry_estimation: {so_name: libodometry_estimation_cpu.so, initialization_mode: LOOSE,\n    initialization_window_size: 3.0, init_pose_damping_scale: 10000000000.0, smoother_lag: 5.0,\n    use_isam2_dogleg: false, isam2_relinearize_skip: 1, isam2_relinearize_thresh: 0.1,\n    fix_imu_bias: false, compute_covs: false, registration_type: GICP, max_iterations: 8,\n    lru_thresh: 100, target_downsampling_rate: 0.1, ivox_resolution: 1.0, ivox_min_dist: 0.1,\n    vgicp_resolution: 0.5, vgicp_voxelmap_levels: 1, vgicp_voxelmap_scaling_factor: 2.0,\n    validate_imu: true, save_imu_rate_trajectory: true, num_threads: 2}\nconfig_sub_mapping_passthrough:\n  sub_mapping: {so_name: libsub_mapping_passthrough.so, keyframe_update_interval_rot: 0.01,\n    keyframe_update_interval_trans: 0.1, max_num_keyframes: 50, max_num_voxels: -1,\n    adaptive_max_num_voxels: 2.5, submap_voxel_resolution: 0.5, min_dist_in_voxel: 0.2,\n    max_num_points_in_voxel: 100, submap_target_num_points: 50000}\nconfig_global_mapping_pose_graph:\n  global_mapping: {so_name: libglobal_mapping_pose_graph.so, enable_optimization: true,\n    init_pose_damping_scale: 1000000.0, registration_type: VGICP, min_travel_dist: 50.0,\n    max_neighbor_dist: 5.0, min_inliear_fraction: 0.5, subsample_target: 10000, subsample_rate: 0.1,\n    gicp_max_correspondence_dist: 2.0, vgicp_voxel_resolution: 2.0, odom_factor_stddev: 0.001,\n    loop_factor_stddev: 0.1, loop_factor_robust_width: 1.0, loop_candidate_buffer_size: 100,\n    loop_candidate_eval_per_thread: 2, use_isam2_dogleg: false, isam2_relinearize_skip: 1,\n    isam2_relinearize_thresh: 0.1, num_threads: 2}\n",
+  "nuage": {
+    "fichier": "2026-10-29_Grotte-Aldene_01.copc.laz",
+    "points": 32359193,
+    "points_replaces": 84454236,
+    "cube_m": 0.02,
+    "echelle_m": 0.001,
+    "champs": {
+      "Intensity": "réflectivité Livox (0-255)",
+      "GpsTime": "instant du premier point vu dans le cube, s depuis t0"
+    },
+    "repere": "local (départ du SLAM), mis à niveau : z vertical",
+    "filtre": "1-40 m du capteur, tags Livox douteux et porteur écartés"
+  },
+  "trajectoire": {
+    "fichier": "trajectory.tum",
+    "format": "TUM : t x y z qx qy qz qw",
+    "pose_de": "imu",
+    "repere": "celui du nuage, t en s depuis t0"
+  },
+  "t0_s": 1792526239.4924128,
+  "horloge": "Jetson (non synchronisée : la date réelle est dans l'identifiant)",
+  "duree_s": 562.002,
+  "mesures": {
+    "epaisseur_murs_cm": 3.28,
+    "boucle": null
+  },
+  "outils": {
+    "banc": "underscanner-bench",
+    "pdal": "2.10.2"
+  },
+  "publie": "2026-11-10T14:05:10"
+}