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Thank you for your patience, and sorry for the delayed response.
We have provided a LiDAR-based benchmark within our codebase. However, unfortunately, we have not yet developed a fully available API for camera.
You may consider transferring RCooper to other format (here) for their camera-apis.
We also acknowledge that there is inaccurate calibration in this version of data as the discussion in issue 32 and issue 15.
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