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Nacho/fix generic dataloader #139

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merged 5 commits into from
Apr 11, 2023
Merged

Nacho/fix generic dataloader #139

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d3ddaf3
Fix folder guessing for generic dataloader
nachovizzo Apr 11, 2023
475b20e
Print warning if rosbag wants to be jumped
nachovizzo Apr 11, 2023
644959f
Bump version
nachovizzo Apr 11, 2023
d1f4711
Revert "Bump version"
nachovizzo Apr 11, 2023
06640ee
Extend jumptable dataloader
nachovizzo Apr 11, 2023
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8 changes: 8 additions & 0 deletions python/kiss_icp/datasets/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,14 @@ def available_dataloaders() -> List:
return [name for _, name, _ in pkgutil.iter_modules([pkgpath])]


def jumpable_dataloaders():
_jumpable_dataloaders = available_dataloaders()
_jumpable_dataloaders.remove("mcap")
_jumpable_dataloaders.remove("ouster")
_jumpable_dataloaders.remove("rosbag")
return _jumpable_dataloaders


def dataloader_types() -> Dict:
import ast
import importlib
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7 changes: 6 additions & 1 deletion python/kiss_icp/tools/cmd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@

from kiss_icp.datasets import (
available_dataloaders,
jumpable_dataloaders,
sequence_dataloaders,
supported_file_extensions,
)
Expand Down Expand Up @@ -56,7 +57,7 @@ def guess_dataloader(data: Path, default_dataloader: str):
bagfiles = [Path(path) for path in glob.glob(os.path.join(data, "*.bag"))]
if len(bagfiles) > 0:
return "rosbag", bagfiles
return default_dataloader
return default_dataloader, data


def version_callback(value: bool):
Expand Down Expand Up @@ -207,6 +208,10 @@ def kiss_icp_pipeline(
print('You must specify a sequence "--sequence"')
raise typer.Exit(code=1)

if jump != 0 and dataloader not in jumpable_dataloaders():
print(f"[WARNING] '{dataloader}' does not support '--jump', starting from first frame")
jump = 0

# Lazy-loading for faster CLI
from kiss_icp.datasets import dataset_factory
from kiss_icp.pipeline import OdometryPipeline
Expand Down