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56586de | 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 | """Download one aligned training example and save a preview from its arrays."""
import argparse
from pathlib import Path
import numpy as np
from PIL import Image, ImageDraw
from huggingface_hub import HfApi, hf_hub_download
REPO = 'KAS2003/xfield-sim-core'
SAMPLE = 'demo/town12_fit.npz'
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--revision', help='Dataset revision, defaults to the current release')
parser.add_argument('--output', type=Path, default=Path('xfield_example.png'))
args = parser.parse_args()
rev = args.revision or HfApi(token=False).dataset_info(REPO, revision='refs/heads/main', expand=['sha']).sha
file = hf_hub_download(REPO, SAMPLE, repo_type='dataset', revision=rev, token=False)
with np.load(file, allow_pickle=False) as z:
cube, rgb, K, T = (z[n] for n in ('cube','image_rgb','K','T'))
assert cube.dtype == np.complex64 and cube.shape == (512,25,64) and np.isfinite(cube).all() and np.any(cube)
assert rgb.shape == (3,360,640) and rgb.dtype == np.uint8
assert K.shape == (3,3) and T.shape == (4,4) and np.isfinite(K).all() and np.isfinite(T).all()
assert bool(z['dense_present']) and all(n in z.files for n in ('role','xr_gt','static_y','dense_sem','dense_height','dense_lane'))
print('key', str(z['key']))
for n in ('cube','image_rgb','K','T','role','xr_gt','static_y','dense_sem','dense_height','dense_lane'):
print(n, z[n].shape, z[n].dtype)
power = 10*np.log10(np.maximum((np.abs(cube)**2).sum(axis=2),1e-20))
lo, hi = np.percentile(power,[5,99])
ra = (255*np.clip((power-lo)/max(hi-lo,1e-6),0,1)).astype('uint8')
camera = Image.fromarray(rgb.transpose(1,2,0))
radar = Image.fromarray(ra[::-1]).resize((192,360)).convert('RGB')
out = Image.new('RGB',(832,388),'white')
out.paste(camera,(0,28)); out.paste(radar,(640,28))
pen=ImageDraw.Draw(out);pen.text((7,7),'Ego RGB',fill='black');pen.text((648,7),'Radar power (range / angle)',fill='black')
out.save(args.output)
print('revision',rev)
print('preview',args.output)
if __name__=='__main__':
main()
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