Datasets:

mcocheteux
/

KITTI-C2L-Dataset

"""Command-line entry point: `kitti-c2l generate|verify|stats`."""

from __future__ import annotations

import argparse
import sys
from collections.abc import Iterator
from pathlib import Path

import pyarrow.parquet as pq

from kitti_c2l.assets import AssetRow, generate_sequence_assets
from kitti_c2l.generate import DEFAULT_BASE_SEED, DEFAULT_CAMERA_ID, generate_sequence_rows
from kitti_c2l.sequence_mapping import AVAILABLE_SEQUENCES, SequenceInfo, load_sequence_mapping
from kitti_c2l.stages import STAGES
from kitti_c2l.windows import (
    DEFAULT_WINDOW_LENGTH,
    DEFAULT_WINDOWS_BASE_SEED,
    generate_sequence_windows,
)
from kitti_c2l.writer import write_assets_sharded, write_split, write_windows


def _cmd_generate(args: argparse.Namespace) -> int:
    seq_map = load_sequence_mapping()
    user_specified = args.sequences is not None
    sequences = args.sequences.split(",") if user_specified else list(AVAILABLE_SEQUENCES)

    by_split: dict[str, list] = {}
    for seq_id in sequences:
        if seq_id not in seq_map:
            print(f"Unknown sequence {seq_id!r}, skipping.", file=sys.stderr)
            continue
        seq_info = seq_map[seq_id]
        if not seq_info.available and not user_specified:
            print(
                f"sequence {seq_id}: SKIPPED -- raw drive not publicly available "
                f"(see configs/sequence_mapping.yaml). Pass --sequences {seq_id} explicitly to force.",
                file=sys.stderr,
            )
            continue
        frame_indices = list(range(args.max_frames)) if args.max_frames else None
        rows = list(
            generate_sequence_rows(
                seq_info,
                args.kitti_calib_root,
                frame_indices=frame_indices,
                stages=STAGES,
                camera_id=args.camera_id,
                base_seed=args.base_seed,
                camera_model=args.camera_model,
            )
        )
        by_split.setdefault(seq_info.split, []).extend(rows)
        print(f"sequence {seq_id}: generated {len(rows)} rows ({seq_info.split})")

    total = 0
    for split, rows in by_split.items():
        output_path = Path(args.output_dir) / f"{split}.parquet"
        count = write_split(rows, output_path)
        total += count
        print(f"wrote {count} rows -> {output_path}")
    print(f"total: {total} rows")
    return 0


def _cmd_generate_assets(args: argparse.Namespace) -> int:
    seq_map = load_sequence_mapping()
    user_specified = args.sequences is not None
    sequences = args.sequences.split(",") if user_specified else list(AVAILABLE_SEQUENCES)

    by_split: dict[str, list] = {}
    for seq_id in sequences:
        if seq_id not in seq_map:
            print(f"Unknown sequence {seq_id!r}, skipping.", file=sys.stderr)
            continue
        seq_info = seq_map[seq_id]
        if not seq_info.available and not user_specified:
            print(
                f"sequence {seq_id}: SKIPPED -- raw drive not publicly available "
                f"(see configs/sequence_mapping.yaml). Pass --sequences {seq_id} explicitly to force.",
                file=sys.stderr,
            )
            continue
        by_split.setdefault(seq_info.split, []).append(seq_info)

    def _rows_for_split(seq_infos: list[SequenceInfo]) -> Iterator[AssetRow]:
        frame_indices = list(range(args.max_frames)) if args.max_frames else None
        for seq_info in seq_infos:
            count = 0
            for row in generate_sequence_assets(
                seq_info, args.kitti_raw_root, frame_indices=frame_indices, camera_id=args.camera_id
            ):
                count += 1
                yield row
            print(
                f"sequence {seq_info.sequence}: materialized {count} frame assets ({seq_info.split})"
            )

    total = 0
    for split, seq_infos in by_split.items():
        shard_paths = write_assets_sharded(_rows_for_split(seq_infos), args.output_dir, split)
        total_split_rows = sum(pq.read_metadata(p).num_rows for p in shard_paths)
        total += total_split_rows
        print(f"wrote {total_split_rows} rows across {len(shard_paths)} shard(s) for split={split}")
    print(f"total: {total} frame assets")
    return 0


def _cmd_generate_windows(args: argparse.Namespace) -> int:
    seq_map = load_sequence_mapping()
    user_specified = args.sequences is not None
    sequences = args.sequences.split(",") if user_specified else list(AVAILABLE_SEQUENCES)

    by_split: dict[str, list] = {}
    for seq_id in sequences:
        if seq_id not in seq_map:
            print(f"Unknown sequence {seq_id!r}, skipping.", file=sys.stderr)
            continue
        seq_info = seq_map[seq_id]
        if not seq_info.available and not user_specified:
            print(
                f"sequence {seq_id}: SKIPPED -- raw drive not publicly available "
                f"(see configs/sequence_mapping.yaml). Pass --sequences {seq_id} explicitly to force.",
                file=sys.stderr,
            )
            continue
        rows = list(
            generate_sequence_windows(
                seq_info,
                args.kitti_calib_root,
                window_length=args.window_length,
                stages=STAGES,
                camera_id=args.camera_id,
                base_seed=args.base_seed,
                max_windows=args.max_windows,
                camera_model=args.camera_model,
            )
        )
        num_windows = len(rows) // len(STAGES)
        by_split.setdefault(seq_info.split, []).extend(rows)
        print(
            f"sequence {seq_id}: generated {num_windows} windows ({len(rows)} rows, {seq_info.split})"
        )

    total = 0
    for split, rows in by_split.items():
        output_path = Path(args.output_dir) / f"windows_{split}.parquet"
        count = write_windows(rows, output_path)
        total += count
        print(f"wrote {count} rows -> {output_path}")
    print(f"total: {total} rows")
    return 0


def _cmd_stats(args: argparse.Namespace) -> int:
    seq_map = load_sequence_mapping()
    total_frames = 0
    available_frames = 0
    for seq_id, seq_info in seq_map.items():
        tag = "" if seq_info.available else "  [NOT PUBLICLY AVAILABLE -- excluded by default]"
        print(
            f"{seq_id}: {seq_info.date}/drive_{seq_info.drive} split={seq_info.split} "
            f"frames={seq_info.frame_count}{tag}"
        )
        total_frames += seq_info.frame_count
        if seq_info.available:
            available_frames += seq_info.frame_count
    print(
        f"total frames (11 sequences): {total_frames}, total rows at {len(STAGES)} stages: {total_frames * len(STAGES)}"
    )
    print(
        f"available frames (10 sequences, default `generate`): {available_frames}, "
        f"total rows at {len(STAGES)} stages: {available_frames * len(STAGES)}"
    )
    return 0


def _cmd_validate(args: argparse.Namespace) -> int:
    import json

    from kitti_c2l.release import validate_release

    report = validate_release(
        args.root, kitti_calib_root=args.kitti_calib_root, check_manifest=not args.write_manifest
    )
    if args.write_manifest:
        destination = args.root / "release/v1/manifest.json"
        destination.parent.mkdir(parents=True, exist_ok=True)
        destination.write_text(json.dumps(report, indent=2) + "\n")
    print(json.dumps(report, indent=2))
    return 0


def build_parser() -> argparse.ArgumentParser:
    parser = argparse.ArgumentParser(prog="kitti-c2l")
    subparsers = parser.add_subparsers(dest="command", required=True)

    generate_parser = subparsers.add_parser(
        "generate", help="Generate parquet metadata for one or more sequences."
    )
    generate_parser.add_argument(
        "--kitti-calib-root",
        required=True,
        help="Directory containing per-date KITTI raw calibration subdirectories (e.g. .../2011_09_30/calib_*.txt).",
    )
    generate_parser.add_argument(
        "--output-dir", default="data", help="Directory to write {split}.parquet into."
    )
    generate_parser.add_argument(
        "--sequences",
        default=None,
        help="Comma-separated sequence IDs, default: all publicly-available ones (excludes 03; pass "
        "--sequences 03 explicitly to force an attempt).",
    )
    generate_parser.add_argument("--camera-id", type=int, default=DEFAULT_CAMERA_ID)
    generate_parser.add_argument(
        "--camera-model",
        choices=("legacy_v1", "full_projection_v1_1"),
        default="legacy_v1",
        help="Calibration conversion: frozen v1 x-only or source-consistent full projection (v1.1).",
    )
    generate_parser.add_argument("--base-seed", type=int, default=DEFAULT_BASE_SEED)
    generate_parser.add_argument(
        "--max-frames",
        type=int,
        default=None,
        help="Cap frames per sequence (for quick test slices).",
    )
    generate_parser.set_defaults(func=_cmd_generate)

    assets_parser = subparsers.add_parser(
        "generate-assets",
        help="Materialize the fully self-contained release: image + raw LiDAR bytes, once per unique frame.",
    )
    assets_parser.add_argument(
        "--kitti-raw-root",
        required=True,
        help="Directory containing per-date KITTI raw subdirectories (calib files + <date>_drive_<drive>_sync/).",
    )
    assets_parser.add_argument(
        "--output-dir", default="data", help="Directory to write frames_{split}.parquet into."
    )
    assets_parser.add_argument(
        "--sequences", default=None, help="Same semantics as `generate --sequences`."
    )
    assets_parser.add_argument("--camera-id", type=int, default=DEFAULT_CAMERA_ID)
    assets_parser.add_argument(
        "--max-frames",
        type=int,
        default=None,
        help="Cap frames per sequence (for quick test slices).",
    )
    assets_parser.set_defaults(func=_cmd_generate_assets)

    windows_parser = subparsers.add_parser(
        "generate-windows",
        help="Generate sequence-window metadata: one decalibration held constant across each window's frames.",
    )
    windows_parser.add_argument(
        "--kitti-calib-root",
        required=True,
        help="Directory containing per-date KITTI raw calibration subdirectories (e.g. .../2011_09_30/calib_*.txt).",
    )
    windows_parser.add_argument(
        "--output-dir", default="data", help="Directory to write windows_{split}.parquet into."
    )
    windows_parser.add_argument(
        "--sequences", default=None, help="Same semantics as `generate --sequences`."
    )
    windows_parser.add_argument("--camera-id", type=int, default=DEFAULT_CAMERA_ID)
    windows_parser.add_argument(
        "--camera-model",
        choices=("legacy_v1", "full_projection_v1_1"),
        default="legacy_v1",
        help="Calibration conversion; use the same model for frame and window metadata.",
    )
    windows_parser.add_argument("--base-seed", type=int, default=DEFAULT_WINDOWS_BASE_SEED)
    windows_parser.add_argument(
        "--window-length",
        type=int,
        default=DEFAULT_WINDOW_LENGTH,
        help=f"Frames per non-overlapping window (default: {DEFAULT_WINDOW_LENGTH}, ~3s at KITTI's 10Hz).",
    )
    windows_parser.add_argument(
        "--max-windows",
        type=int,
        default=None,
        help="Cap windows per sequence (for quick test slices).",
    )
    windows_parser.set_defaults(func=_cmd_generate_windows)

    validate_parser = subparsers.add_parser(
        "validate", help="Audit the frozen metadata release and its checksums."
    )
    validate_parser.add_argument("--root", type=Path, default=Path("."))
    validate_parser.add_argument("--kitti-calib-root", type=Path)
    validate_parser.add_argument(
        "--write-manifest",
        action="store_true",
        help="Write a manifest after a complete successful audit.",
    )
    validate_parser.set_defaults(func=_cmd_validate)

    stats_parser = subparsers.add_parser(
        "stats", help="Print sequence mapping stats without touching any KITTI data."
    )
    stats_parser.set_defaults(func=_cmd_stats)

    return parser


def main(argv: list[str] | None = None) -> int:
    parser = build_parser()
    args = parser.parse_args(argv)
    return args.func(args)


if __name__ == "__main__":
    sys.exit(main())

	"""Command-line entry point: `kitti-c2l generate\|verify\|stats`."""

	from __future__ import annotations

	import argparse
	import sys
	from collections.abc import Iterator
	from pathlib import Path

	import pyarrow.parquet as pq

	from kitti_c2l.assets import AssetRow, generate_sequence_assets
	from kitti_c2l.generate import DEFAULT_BASE_SEED, DEFAULT_CAMERA_ID, generate_sequence_rows
	from kitti_c2l.sequence_mapping import AVAILABLE_SEQUENCES, SequenceInfo, load_sequence_mapping
	from kitti_c2l.stages import STAGES
	from kitti_c2l.windows import (
	DEFAULT_WINDOW_LENGTH,
	DEFAULT_WINDOWS_BASE_SEED,
	generate_sequence_windows,
	)
	from kitti_c2l.writer import write_assets_sharded, write_split, write_windows


	def _cmd_generate(args: argparse.Namespace) -> int:
	seq_map = load_sequence_mapping()
	user_specified = args.sequences is not None
	sequences = args.sequences.split(",") if user_specified else list(AVAILABLE_SEQUENCES)

	by_split: dict[str, list] = {}
	for seq_id in sequences:
	if seq_id not in seq_map:
	print(f"Unknown sequence {seq_id!r}, skipping.", file=sys.stderr)
	continue
	seq_info = seq_map[seq_id]
	if not seq_info.available and not user_specified:
	print(
	f"sequence {seq_id}: SKIPPED -- raw drive not publicly available "
	f"(see configs/sequence_mapping.yaml). Pass --sequences {seq_id} explicitly to force.",
	file=sys.stderr,
	)
	continue
	frame_indices = list(range(args.max_frames)) if args.max_frames else None
	rows = list(
	generate_sequence_rows(
	seq_info,
	args.kitti_calib_root,
	frame_indices=frame_indices,
	stages=STAGES,
	camera_id=args.camera_id,
	base_seed=args.base_seed,
	camera_model=args.camera_model,
	)
	)
	by_split.setdefault(seq_info.split, []).extend(rows)
	print(f"sequence {seq_id}: generated {len(rows)} rows ({seq_info.split})")

	total = 0
	for split, rows in by_split.items():
	output_path = Path(args.output_dir) / f"{split}.parquet"
	count = write_split(rows, output_path)
	total += count
	print(f"wrote {count} rows -> {output_path}")
	print(f"total: {total} rows")
	return 0


	def _cmd_generate_assets(args: argparse.Namespace) -> int:
	seq_map = load_sequence_mapping()
	user_specified = args.sequences is not None
	sequences = args.sequences.split(",") if user_specified else list(AVAILABLE_SEQUENCES)

	by_split: dict[str, list] = {}
	for seq_id in sequences:
	if seq_id not in seq_map:
	print(f"Unknown sequence {seq_id!r}, skipping.", file=sys.stderr)
	continue
	seq_info = seq_map[seq_id]
	if not seq_info.available and not user_specified:
	print(
	f"sequence {seq_id}: SKIPPED -- raw drive not publicly available "
	f"(see configs/sequence_mapping.yaml). Pass --sequences {seq_id} explicitly to force.",
	file=sys.stderr,
	)
	continue
	by_split.setdefault(seq_info.split, []).append(seq_info)

	def _rows_for_split(seq_infos: list[SequenceInfo]) -> Iterator[AssetRow]:
	frame_indices = list(range(args.max_frames)) if args.max_frames else None
	for seq_info in seq_infos:
	count = 0
	for row in generate_sequence_assets(
	seq_info, args.kitti_raw_root, frame_indices=frame_indices, camera_id=args.camera_id
	):
	count += 1
	yield row
	print(
	f"sequence {seq_info.sequence}: materialized {count} frame assets ({seq_info.split})"
	)

	total = 0
	for split, seq_infos in by_split.items():
	shard_paths = write_assets_sharded(_rows_for_split(seq_infos), args.output_dir, split)
	total_split_rows = sum(pq.read_metadata(p).num_rows for p in shard_paths)
	total += total_split_rows
	print(f"wrote {total_split_rows} rows across {len(shard_paths)} shard(s) for split={split}")
	print(f"total: {total} frame assets")
	return 0


	def _cmd_generate_windows(args: argparse.Namespace) -> int:
	seq_map = load_sequence_mapping()
	user_specified = args.sequences is not None
	sequences = args.sequences.split(",") if user_specified else list(AVAILABLE_SEQUENCES)

	by_split: dict[str, list] = {}
	for seq_id in sequences:
	if seq_id not in seq_map:
	print(f"Unknown sequence {seq_id!r}, skipping.", file=sys.stderr)
	continue
	seq_info = seq_map[seq_id]
	if not seq_info.available and not user_specified:
	print(
	f"sequence {seq_id}: SKIPPED -- raw drive not publicly available "
	f"(see configs/sequence_mapping.yaml). Pass --sequences {seq_id} explicitly to force.",
	file=sys.stderr,
	)
	continue
	rows = list(
	generate_sequence_windows(
	seq_info,
	args.kitti_calib_root,
	window_length=args.window_length,
	stages=STAGES,
	camera_id=args.camera_id,
	base_seed=args.base_seed,
	max_windows=args.max_windows,
	camera_model=args.camera_model,
	)
	)
	num_windows = len(rows) // len(STAGES)
	by_split.setdefault(seq_info.split, []).extend(rows)
	print(
	f"sequence {seq_id}: generated {num_windows} windows ({len(rows)} rows, {seq_info.split})"
	)

	total = 0
	for split, rows in by_split.items():
	output_path = Path(args.output_dir) / f"windows_{split}.parquet"
	count = write_windows(rows, output_path)
	total += count
	print(f"wrote {count} rows -> {output_path}")
	print(f"total: {total} rows")
	return 0


	def _cmd_stats(args: argparse.Namespace) -> int:
	seq_map = load_sequence_mapping()
	total_frames = 0
	available_frames = 0
	for seq_id, seq_info in seq_map.items():
	tag = "" if seq_info.available else " [NOT PUBLICLY AVAILABLE -- excluded by default]"
	print(
	f"{seq_id}: {seq_info.date}/drive_{seq_info.drive} split={seq_info.split} "
	f"frames={seq_info.frame_count}{tag}"
	)
	total_frames += seq_info.frame_count
	if seq_info.available:
	available_frames += seq_info.frame_count
	print(
	f"total frames (11 sequences): {total_frames}, total rows at {len(STAGES)} stages: {total_frames * len(STAGES)}"
	)
	print(
	f"available frames (10 sequences, default `generate`): {available_frames}, "
	f"total rows at {len(STAGES)} stages: {available_frames * len(STAGES)}"
	)
	return 0


	def _cmd_validate(args: argparse.Namespace) -> int:
	import json

	from kitti_c2l.release import validate_release

	report = validate_release(
	args.root, kitti_calib_root=args.kitti_calib_root, check_manifest=not args.write_manifest
	)
	if args.write_manifest:
	destination = args.root / "release/v1/manifest.json"
	destination.parent.mkdir(parents=True, exist_ok=True)
	destination.write_text(json.dumps(report, indent=2) + "\n")
	print(json.dumps(report, indent=2))
	return 0


	def build_parser() -> argparse.ArgumentParser:
	parser = argparse.ArgumentParser(prog="kitti-c2l")
	subparsers = parser.add_subparsers(dest="command", required=True)

	generate_parser = subparsers.add_parser(
	"generate", help="Generate parquet metadata for one or more sequences."
	)
	generate_parser.add_argument(
	"--kitti-calib-root",
	required=True,
	help="Directory containing per-date KITTI raw calibration subdirectories (e.g. .../2011_09_30/calib_*.txt).",
	)
	generate_parser.add_argument(
	"--output-dir", default="data", help="Directory to write {split}.parquet into."
	)
	generate_parser.add_argument(
	"--sequences",
	default=None,
	help="Comma-separated sequence IDs, default: all publicly-available ones (excludes 03; pass "
	"--sequences 03 explicitly to force an attempt).",
	)
	generate_parser.add_argument("--camera-id", type=int, default=DEFAULT_CAMERA_ID)
	generate_parser.add_argument(
	"--camera-model",
	choices=("legacy_v1", "full_projection_v1_1"),
	default="legacy_v1",
	help="Calibration conversion: frozen v1 x-only or source-consistent full projection (v1.1).",
	)
	generate_parser.add_argument("--base-seed", type=int, default=DEFAULT_BASE_SEED)
	generate_parser.add_argument(
	"--max-frames",
	type=int,
	default=None,
	help="Cap frames per sequence (for quick test slices).",
	)
	generate_parser.set_defaults(func=_cmd_generate)

	assets_parser = subparsers.add_parser(
	"generate-assets",
	help="Materialize the fully self-contained release: image + raw LiDAR bytes, once per unique frame.",
	)
	assets_parser.add_argument(
	"--kitti-raw-root",
	required=True,
	help="Directory containing per-date KITTI raw subdirectories (calib files + <date>_drive_<drive>_sync/).",
	)
	assets_parser.add_argument(
	"--output-dir", default="data", help="Directory to write frames_{split}.parquet into."
	)
	assets_parser.add_argument(
	"--sequences", default=None, help="Same semantics as `generate --sequences`."
	)
	assets_parser.add_argument("--camera-id", type=int, default=DEFAULT_CAMERA_ID)
	assets_parser.add_argument(
	"--max-frames",
	type=int,
	default=None,
	help="Cap frames per sequence (for quick test slices).",
	)
	assets_parser.set_defaults(func=_cmd_generate_assets)

	windows_parser = subparsers.add_parser(
	"generate-windows",
	help="Generate sequence-window metadata: one decalibration held constant across each window's frames.",
	)
	windows_parser.add_argument(
	"--kitti-calib-root",
	required=True,
	help="Directory containing per-date KITTI raw calibration subdirectories (e.g. .../2011_09_30/calib_*.txt).",
	)
	windows_parser.add_argument(
	"--output-dir", default="data", help="Directory to write windows_{split}.parquet into."
	)
	windows_parser.add_argument(
	"--sequences", default=None, help="Same semantics as `generate --sequences`."
	)
	windows_parser.add_argument("--camera-id", type=int, default=DEFAULT_CAMERA_ID)
	windows_parser.add_argument(
	"--camera-model",
	choices=("legacy_v1", "full_projection_v1_1"),
	default="legacy_v1",
	help="Calibration conversion; use the same model for frame and window metadata.",
	)
	windows_parser.add_argument("--base-seed", type=int, default=DEFAULT_WINDOWS_BASE_SEED)
	windows_parser.add_argument(
	"--window-length",
	type=int,
	default=DEFAULT_WINDOW_LENGTH,
	help=f"Frames per non-overlapping window (default: {DEFAULT_WINDOW_LENGTH}, ~3s at KITTI's 10Hz).",
	)
	windows_parser.add_argument(
	"--max-windows",
	type=int,
	default=None,
	help="Cap windows per sequence (for quick test slices).",
	)
	windows_parser.set_defaults(func=_cmd_generate_windows)

	validate_parser = subparsers.add_parser(
	"validate", help="Audit the frozen metadata release and its checksums."
	)
	validate_parser.add_argument("--root", type=Path, default=Path("."))
	validate_parser.add_argument("--kitti-calib-root", type=Path)
	validate_parser.add_argument(
	"--write-manifest",
	action="store_true",
	help="Write a manifest after a complete successful audit.",
	)
	validate_parser.set_defaults(func=_cmd_validate)

	stats_parser = subparsers.add_parser(
	"stats", help="Print sequence mapping stats without touching any KITTI data."
	)
	stats_parser.set_defaults(func=_cmd_stats)

	return parser


	def main(argv: list[str] \| None = None) -> int:
	parser = build_parser()
	args = parser.parse_args(argv)
	return args.func(args)


	if __name__ == "__main__":
	sys.exit(main())