File size: 839 Bytes
af958d3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 | """Print HDF5 depth storage metadata without assuming its unit scale."""
from __future__ import annotations
import argparse
import json
import h5py
import numpy as np
parser = argparse.ArgumentParser()
parser.add_argument("path")
args = parser.parse_args()
with h5py.File(args.path, "r") as h5:
sensor = h5["traj_0"]["obs"]["sensor_data"]["head_camera_agent0"]
depth = sensor["depth"]
sample = np.asarray(depth[: min(4, len(depth))])
print(json.dumps({
"file_attrs": {key: str(value) for key, value in h5.attrs.items()},
"sensor_keys": sorted(sensor.keys()),
"depth_shape": list(depth.shape), "depth_dtype": str(depth.dtype),
"depth_attrs": {key: str(value) for key, value in depth.attrs.items()},
"raw_min": float(sample.min()), "raw_max": float(sample.max()),
}, indent=2))
|