reading mcap from folder

mad_icp/apps/mad_icp.py

@@ -104,7 +104,7 @@ def main(data_path: Annotated[
     elif len(list(data_path.glob("*.db3"))) != 0:
         console.print("[yellow] The dataset is in ros2 db3 format")
         reader_type = InputDataInterface.ros2
-    elif os.path.isfile(data_path) and data_path.suffix == ".mcap":
+    elif len(list(data_path.glob("*.mcap"))) != 0:
         console.print("[yellow] The dataset is in ros2 mcap format")
         reader_type = InputDataInterface.mcap
     else:

mad_icp/apps/utils/mcap_reader.py

@@ -63,8 +63,9 @@ def __init__(self, data_dir: Path, min_range=0,
         self.min_range = min_range
         self.max_range = max_range
 
-        assert os.path.isfile(data_dir), "mcap dataloader expects an existing MCAP file"
-        mcap_file = str(data_dir)
+        mcap_file_path = next(data_dir.glob("*.mcap"), None)
+        assert os.path.isfile(mcap_file_path), "mcap dataloader expects an existing MCAP file"
+        mcap_file = str(mcap_file_path)
 
         self.bag = make_reader(open(mcap_file, "rb"))
         self.summary = self.bag.get_summary()

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "mad-icp"
-version = "0.0.5"
+version = "0.0.6"
 description = "It Is All About Matching Data -- Robust and Informed LiDAR Odometry"
 readme = "README.md"
 authors = [