File size: 1,626 Bytes
a745b84 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 | import h5py
import pandas as pd
def load_h5_data(h5_path: str):
"""
Load events and labels from an HDF5 file.
Parameters
----------
h5_path : str
Path to the HDF5 file.
Returns
-------
events : dict
Dictionary with keys: 'xs', 'ys', 'ts', 'ps'.
labels_df : pd.DataFrame
DataFrame containing pose labels and timestamps.
"""
with h5py.File(h5_path, "r") as f:
# ---- Load events ----
event_grp = f["events"]
events = {
"xs": event_grp["xs"][()],
"ys": event_grp["ys"][()],
"ts": event_grp["ts"][()],
"ps": event_grp["ps"][()],
}
# ---- Load labels ----
labels_ds = f["labels"]["data"]
labels_df = pd.DataFrame({
"filename": labels_ds["filename"].astype(str),
"Tx": labels_ds["Tx"],
"Ty": labels_ds["Ty"],
"Tz": labels_ds["Tz"],
"Qx": labels_ds["Qx"],
"Qy": labels_ds["Qy"],
"Qz": labels_ds["Qz"],
"Qw": labels_ds["Qw"],
"timestamp": labels_ds["timestamp"],
})
return events, labels_df
def main():
h5_path = "./h5/RT000.h5"
# Inspect label dtype
with h5py.File(h5_path, "r") as f:
print("Label dtype:")
print(f["labels"]["data"].dtype)
events, labels_df = load_h5_data(h5_path)
# Preview events
print("\nLast 10 events:")
print(pd.DataFrame(events).tail(10))
# Preview labels
print("\nLast 10 labels:")
print(labels_df.tail(10))
if __name__ == "__main__":
main() |