Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | """KITTI Odometry sequence <-> raw drive lookup, backed by configs/sequence_mapping.yaml. | |
| See that file's header comment for provenance. Sequence 03's raw drive is not | |
| publicly available anywhere (confirmed 404 on KITTI's official mirror, a | |
| long-standing unresolved community-wide gap) -- its `SequenceInfo.available` | |
| is False, and `AVAILABLE_SEQUENCES` / `kitti-c2l generate` exclude it. | |
| """ | |
| from __future__ import annotations | |
| from dataclasses import dataclass | |
| from pathlib import Path | |
| import yaml | |
| DEFAULT_CONFIG_PATH = Path(__file__).with_name("sequence_mapping.yaml") | |
| if not DEFAULT_CONFIG_PATH.exists(): # source checkout; wheel contains the packaged copy | |
| DEFAULT_CONFIG_PATH = Path(__file__).resolve().parents[2] / "configs" / "sequence_mapping.yaml" | |
| class SequenceInfo: | |
| sequence: str # "00".."10" | |
| date: str # e.g. "2011_09_30" | |
| drive: str # e.g. "0016" | |
| start: int # 0-based raw-frame index where the sequence begins | |
| end: int # 0-based raw-frame index (inclusive) where the sequence ends | |
| frame_count: int | |
| split: str # "train" | "test" | |
| available: bool = ( | |
| True # False for sequence 03 -- raw drive not publicly available, see module docstring | |
| ) | |
| def raw_frame_index(self, sequence_frame_index: int) -> int: | |
| """Maps a 0-based frame index within this odometry sequence to the raw drive's frame index.""" | |
| if not 0 <= sequence_frame_index < self.frame_count: | |
| raise IndexError( | |
| f"frame {sequence_frame_index} out of range for sequence {self.sequence} " | |
| f"(frame_count={self.frame_count})" | |
| ) | |
| return self.start + sequence_frame_index | |
| def drive_name(self) -> str: | |
| return f"{self.date}_drive_{self.drive}_sync" | |
| def load_sequence_mapping(config_path: str | Path | None = None) -> dict[str, SequenceInfo]: | |
| path = Path(config_path) if config_path is not None else DEFAULT_CONFIG_PATH | |
| raw = yaml.safe_load(path.read_text()) | |
| mapping: dict[str, SequenceInfo] = {} | |
| for seq_id, fields in raw["sequences"].items(): | |
| mapping[seq_id] = SequenceInfo( | |
| sequence=seq_id, | |
| date=fields["date"], | |
| drive=fields["drive"], | |
| start=fields["start"], | |
| end=fields["end"], | |
| frame_count=fields["frame_count"], | |
| split=fields["split"], | |
| available=fields["available"], | |
| ) | |
| return mapping | |
| TRAIN_SEQUENCES: tuple[str, ...] = ("00", "01", "02", "03", "04", "05", "06", "07", "08") | |
| TEST_SEQUENCES: tuple[str, ...] = ("09", "10") | |
| ALL_SEQUENCES: tuple[str, ...] = TRAIN_SEQUENCES + TEST_SEQUENCES | |
| # All sequences except 03 (see module docstring) -- what `kitti-c2l generate` uses by default. | |
| AVAILABLE_SEQUENCES: tuple[str, ...] = tuple(seq for seq in ALL_SEQUENCES if seq != "03") | |