examples/load_via_airlab.py

#!/usr/bin/env python3
"""load_via_airlab.py — TartanIMU AirLabNPZSequence single-file loader.

Verifies that this dataset is drop-in compatible with TartanIMU's
`dataloader.dataset_AirLab.AirLabNPZSequence`. **No monkey-patch is required**
— the path layout `data/{car,human}/vbr/...` causes the loader's substring
matcher to assign the correct `motion_type` automatically (1 = car, 4 = human).
None of our 8 sequence names contain the substrings "car", "dog", "drone",
or "human", so there is no false-match hazard.

Run from the dataset root:

    python examples/load_via_airlab.py \\
        --tartanimu-master /path/to/TartanIMU-master \\
        --num 4
"""
from __future__ import annotations

import argparse
import random
import sys
import warnings
from pathlib import Path

import numpy as np


def main() -> int:
    ap = argparse.ArgumentParser()
    ap.add_argument("--tartanimu-master", required=True,
                    help="path to the cloned TartanIMU-master repo")
    ap.add_argument("--data-root", default="data")
    ap.add_argument("--num", type=int, default=4)
    ap.add_argument("--seed", type=int, default=0)
    args = ap.parse_args()

    sys.path.insert(0, args.tartanimu_master)
    with warnings.catch_warnings():
        warnings.simplefilter("ignore")
        from dataloader.dataset_AirLab import AirLabNPZSequence

    files = sorted(Path(args.data_root).rglob("traj.npz"))
    if not files:
        print(f"[error] no traj.npz under {args.data_root}", file=sys.stderr)
        return 2

    random.seed(args.seed)
    picks = random.sample(files, min(args.num, len(files)))
    name_of = {0: "none", 1: "car", 2: "dog", 3: "drone", 4: "human"}

    failed = 0
    for p in picks:
        seq = AirLabNPZSequence(
            data_path=str(p),
            imu_freq=200,
            window_size=200,
            verbose=False,
            use_local_coord=True,
            mode="train",
        )
        mt = int(seq.motion_type.item())
        expected = 1 if "/car/" in str(p) else 4
        ok = bool(seq.valid) and mt == expected
        failed += not ok
        print(
            f"[{('OK ' if ok else 'BAD')}] {p.parent.name:<24s}  "
            f"motion_type={name_of.get(mt, '?'):<5s} (got={mt} expected={expected})  "
            f"feat={tuple(seq.features.shape)}  targ={tuple(seq.targets.shape)}  "
            f"valid={seq.valid}"
        )

    print()
    print(f"[summary] {len(picks) - failed}/{len(picks)} files load via AirLabNPZSequence with correct motion_type")
    return 0 if failed == 0 else 1


if __name__ == "__main__":
    raise SystemExit(main())