File size: 3,664 Bytes
db613b6 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 | """Verify the smallest uploaded train/test shards against local KITTI Raw bytes."""
from __future__ import annotations
import argparse
import io
import json
from pathlib import Path
import numpy as np
import pyarrow.parquet as pq
from huggingface_hub import hf_hub_download
from PIL import Image
from kitti_c2l.release import require, sha256, validate_hub_manifest
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--root", type=Path, default=Path(__file__).resolve().parents[1])
parser.add_argument("--raw-root", type=Path, required=True)
parser.add_argument("--output", type=Path, required=True)
args = parser.parse_args()
if args.output.exists():
raise FileExistsError(args.output)
manifest = validate_hub_manifest(args.root)
selected = [
min(
(
item
for item in manifest["shards"]
if item["path"].startswith(f"data/frames_{split}-")
),
key=lambda item: item["bytes"],
)
for split in ("train", "test")
]
results = []
for item in selected:
path = Path(
hf_hub_download(
manifest["repo_id"],
item["path"],
repo_type="dataset",
revision=manifest["revision"],
)
)
require(sha256(path) == item["sha256"], f"shard checksum mismatch: {item['path']}")
count = 0
for batch in pq.ParquetFile(path).iter_batches(batch_size=16):
for row in batch.to_pylist():
drive = (
args.raw_root
/ row["raw_date"]
/ f"{row['raw_date']}_drive_{row['raw_drive']}_sync"
)
frame = f"{row['raw_frame_index']:010d}"
require(
row["image_png"] == (drive / "image_02/data" / f"{frame}.png").read_bytes(),
"image source bytes mismatch",
)
require(
row["points_bin"]
== (drive / "velodyne_points/data" / f"{frame}.bin").read_bytes(),
"scan source bytes mismatch",
)
with Image.open(io.BytesIO(row["image_png"])) as image:
require(
image.size == (row["image_width"], row["image_height"]),
"image dimensions mismatch",
)
image.verify()
points = np.frombuffer(row["points_bin"], dtype=np.float32).reshape(-1, 4)
require(len(points) > 0 and np.isfinite(points).all(), "invalid scan values")
count += 1
results.append(
{
"path": item["path"],
"sha256": item["sha256"],
"bytes": item["bytes"],
"verified_frame_payloads": count,
"raw_source_bytes_and_decoding": "pass",
}
)
print(f"{item['path']}: {count} image/scan pairs match local KITTI Raw", flush=True)
report = {
"repo_id": manifest["repo_id"],
"revision": manifest["revision"],
"status": "pass",
"scope": "Smallest train and test shards downloaded in full, SHA256 verified, every sensor payload compared byte-for-byte to local KITTI Raw and decoded. Not every shard payload was downloaded.",
"shards": results,
}
args.output.parent.mkdir(parents=True, exist_ok=True)
args.output.write_text(json.dumps(report, indent=2) + "\n")
if __name__ == "__main__":
main()
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