Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | #!/usr/bin/env python | |
| """Cross-checks configs/sequence_mapping.yaml against local raw drive frame counts. | |
| For every sequence whose raw drive is present locally, compares the | |
| mapping's `frame_count` (the odometry-benchmark sub-range) against the | |
| number of image_02 files actually on disk for that drive (which may be | |
| larger, since a raw drive can extend beyond the packaged sub-range -- see | |
| sequence_mapping.yaml's header comment). Sequences whose raw drive isn't | |
| present locally are reported as "not available" rather than failing. | |
| """ | |
| from __future__ import annotations | |
| import argparse | |
| import sys | |
| from pathlib import Path | |
| sys.path.insert(0, str(Path(__file__).resolve().parent.parent / "src")) | |
| from kitti_c2l.sequence_mapping import load_sequence_mapping # noqa: E402 | |
| def main() -> int: | |
| parser = argparse.ArgumentParser() | |
| parser.add_argument("--kitti-raw-root", required=True, help="Root directory containing <date>/<date>_drive_*_sync/") | |
| args = parser.parse_args() | |
| root = Path(args.kitti_raw_root) | |
| mapping = load_sequence_mapping() | |
| all_ok = True | |
| for seq_id, seq_info in mapping.items(): | |
| if not seq_info.available: | |
| print(f"seq {seq_id}: SKIPPED -- raw drive not publicly available upstream (not a local-download issue)") | |
| continue | |
| drive_dir = root / seq_info.date / seq_info.drive_name | |
| image_dir = drive_dir / "image_02" / "data" | |
| if not image_dir.is_dir(): | |
| print(f"seq {seq_id}: NOT DOWNLOADED locally yet ({drive_dir})") | |
| all_ok = False | |
| continue | |
| num_images = len(list(image_dir.glob("*.png"))) | |
| required_last_frame = seq_info.end # 0-based raw frame index | |
| status = "OK" if num_images > required_last_frame else "INSUFFICIENT FRAMES" | |
| if status != "OK": | |
| all_ok = False | |
| print( | |
| f"seq {seq_id}: {seq_info.drive_name} -- {num_images} raw frames on disk, " | |
| f"need up to raw frame {required_last_frame} (0-based) -- {status}" | |
| ) | |
| return 0 if all_ok else 1 | |
| if __name__ == "__main__": | |
| sys.exit(main()) | |