style(himo): add lidar_dt in if-else for himo data read.

Author: Kin-Zhang

dataprocess/extract_av2.py

@@ -312,7 +312,7 @@ def process_logs(data_dir: Path, output_dir: Path, nproc: int):
 
 def main(
     argo_dir: str = "/home/kin/data/av2",
-    output_dir: str ="/home/kin/data/av2/preprocess",
+    output_dir: str ="/home/kin/data/av2/h5py",
     av2_type: str = "sensor",
     data_mode: str = "val",
     mask_dir: str = "/home/kin/data/av2/3d_scene_flow",

src/dataset.py

@@ -347,7 +347,7 @@ def __getitem__(self, index_):
                     data_dict[f'gmh{i+1}'] = past_gm
                     data_dict[f'poseh{i+1}'] = past_pose
 
-            for data_key in self.vis_name + ['ego_motion',
+            for data_key in self.vis_name + ['ego_motion', 'lidar_dt', 
                              # ground truth information:
                              'flow', 'flow_is_valid', 'flow_category_indices', 'flow_instance_id', 'dufo']:
                 if data_key in f[key]:

tools/readh5.py

@@ -0,0 +1,46 @@
+"""
+# Created: 2023-12-31 22:19
+# LastEdit: 2024-01-12 18:46
+# Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
+# Author: Qingwen Zhang  (https://kin-zhang.github.io/)
+
+# Description:
+#   Quick Read the keys in an h5 file, print out their shapes and data types etc.
+
+# Example Running:
+    python tools/readh5pkl.py --file_path /home/kin/data/av2/h5py/sensor/test/0c6e62d7-bdfa-3061-8d3d-03b13aa21f68.h5
+"""
+
+import os, pickle
+os.environ["OMP_NUM_THREADS"] = "1"
+import fire, time, h5py
+
+def readfile(
+    file_path: str = "/home/kin/data/av2/h5py/sensor/test/0c6e62d7-bdfa-3061-8d3d-03b13aa21f68.h5"
+):
+    if file_path.endswith('.h5'):
+        with h5py.File(file_path, 'r') as f:
+            for cnt, k in enumerate(f.keys()):
+                if cnt % 2 == 1:
+                    continue
+                print(f"id: {cnt}; Key (TimeStamp): {k}")
+                for sub_k in f[k].keys():
+                    print(f"  Sub-Key: {sub_k}, Shape: {f[k][sub_k].shape}, Dtype: {f[k][sub_k].dtype}")
+                if cnt >= 10:
+                    break
+            print(f"\nTotal {len(f.keys())} timestamps in the file.")
+    elif file_path.endswith('.pkl'):
+        with open(file_path, 'rb') as f:
+            data_index = pickle.load(f)
+        for cnt, (scene_token, timestamp) in enumerate(data_index):
+            if cnt % 2 == 1:
+                continue
+            print(f"id: {cnt}; Scene Token: {scene_token}, Timestamp: {timestamp}")
+            if cnt >= 10:
+                break
+        print(f"\nTotal {len(data_index)} timestamps in the file.")
+
+if __name__ == '__main__':
+    start_time = time.time()
+    fire.Fire(readfile)
+    print(f"\nTime used: {(time.time() - start_time)/60:.2f} mins")