matlab-import-driving-data

# Driving Data Importer

This skill loads raw driving sensor data into `scenariobuilder.*` objects (`GPSData`, `CameraData`, `LidarData`, `ActorTrackData`, `Trajectory`, `laneData`) and provides the CLI for every preprocessing step DLA exposes (sync, crop, offset, normalize, convert timestamps). It also covers the `drivingLogAnalyzer` (DLA) app **as an opt-in inspection tool** — see *Rule 0* below; DLA is never a default step.

After wrapping is done, the canonical next move is `matlab-use-scenario-builder` (trajectory smoothing, scene/scenario generation, lane localization, RoadRunner / drivingScenario / OpenSCENARIO / OpenDRIVE / OpenCRG / Unreal export).

## Rule 0 — DLA is opt-in only (HARD RULE, READ FIRST)

**Never call `drivingLogAnalyzer` unless the user explicitly asks for it or has reported a sensor-data problem DLA is built to debug.** Auto-launching DLA after wrapping data is a first-attempt-success failure: it stalls the user (a UI app forces context-switch, scrub, click, confirm) and signals that the agent is not confident the import worked.

**When DLA IS allowed — only these two cases:**

1. **Explicit user request** — user types `DLA`, `drivingLogAnalyzer`, "open in DLA", "inspect / visualize / explore / replay / analyze the recording", "open the driving log analyzer".
2. **Reported sensor-data problem** that DLA is the right tool for:
   - "the sensors look out of sync"
   - "camera and lidar timestamps don't match"
   - "actor cuboids float above the cars" (overlay alignment)
   - "I see missing frames / a gap in the timeline"
   - "the offset looks wrong / the timeline is shifted"

**When DLA is NOT allowed (defaults — go straight to `matlab-use-scenario-builder`):**

- "Virtualize this data", "build a scenario from this data", "generate a scene", "export to RoadRunner / drivingScenario / OpenSCENARIO / OpenDRIVE / OpenCRG / Unreal", "simulate this drive", "I have data, do something with it".
- *Anything that has a downstream simulation or scenario target.*

If you ever feel an urge to add a "let me open DLA so you can verify" step after wrapping — **stop.** Save the wrapped objects to `sandbox/<dataset>_wrapped.mat`, print a short summary, and hand off.

## When to Use

- User has raw driving dataset files (KITTI, nuScenes, Waymo, custom logs, ROS/ROS2 bags, .mat, .csv, .xls, video) and needs them loaded into `scenariobuilder.*` objects
- User says **"open in DLA"**, **"drivingLogAnalyzer"**, **"inspect / visualize / explore / replay / analyze this dataset"** *(triggers DLA — Rule 0 case 1)*
- User wants to map raw structs/tables/rosbag topics to `GPSData`, `CameraData`, `LidarData`, `ActorTrackData`, `Trajectory`, or `laneData`
- User wants to attach camera/lidar **Mounting Location / Mounting Angles / Intrinsics / Ego Origin Height**
- User asks for **multi-sensor synchronization** of any kind: "sync", "align sensors", "match sample rates", "resample to a common timeline", "sensor-to-sensor alignment"
- User asks for **offset correction** ("drag-to-align", "time offset", "shift this sensor by X seconds")
- User asks to **crop / trim / extract a segment** of a recording across sensors
- User asks to **normalize timestamps** ("common t=0", "time origin", "POSIX to seconds", "datetime to numeric")
- User wants to **export sensor data** to MAT, workspace, timetable, or a reproducible script
- User needs to inspect dataset structure, identify available sensor modalities, validate calibration transforms, or check for pre-computed annotations
- User needs to compute actor tracks from lidar when no annotations exist (clustering / detector / camera-based pipeline)
- User reports a **sensor-data problem** (Rule 0 case 2) — wrap, then offer DLA as the debugging path

## When NOT to Use

- **Do NOT auto-launch DLA after wrapping.** If the user asked to virtualize / build a scenario / export to a sim format, finish wrapping and hand off to `matlab-use-scenario-builder` directly. (Rule 0.)
- User wants to **build / generate / export a scenario** (RoadRunner, drivingScenario, OpenSCENARIO, OpenDRIVE, OpenCRG, Unreal) — wrap here, then hand off to **`matlab-use-scenario-builder`**.
- User wants to **smooth a trajectory**, **localize ego on a lane**, **correct height on a terrain scene**, **place static objects** (signs/trees/poles), **extract a road surface (OpenCRG)** from lidar, **generate 3D assets** from images, **add elevation** to a map, or **georeference point clouds** — all `matlab-use-scenario-builder`
- User wants to **run sensor-fusion tracking** (`multiSensorTargetTracker`, JPDA + smoother) to get cleaner tracks — `matlab-use-scenario-builder` Workflow 14
- User is debugging general MATLAB code unrelated to dataset import — use `matlab-debug-code`
- User wants to install a toolbox or check MATLAB products — use `matlab-list-products` / `matlab-install-products`
- Task is about non-driving sensor data (medical imaging, audio, etc.) — out of scope

**Boundary heuristic:** wrapping into `scenariobuilder.*` and any sync/crop/offset/normalize CLI work belongs here. The moment the user says *scenario / scene / RoadRunner / simulate / drive in a virtual world / export to OpenSCENARIO / virtualize* — wrap, save, hand off. DLA stays parked unless invoked by name or summoned by a reported problem.

## IMPORTANT — Execution Rules

### Rule 1: Inspect Before Importing
**Always inspect the dataset structure first.** Before writing any import code:
1. List the top-level directory structure
2. Identify what sensor modalities are available (GPS, lidar, camera, annotations)
3. Determine if pre-computed annotations/labels exist (3D bounding boxes, tracks)
4. Check calibration files for coordinate frame definitions

### Rule 2: Check for Existing Annotations Before Computing Tracks
**Never run a lidar tracker if the dataset already provides actor tracks or 3D bounding box annotations.** Always check first:
- Look for annotation files (`object_detection.json`, `labels/`, `annotations/`,