update

scripts/upload_preview_to_hf.py

@@ -1,144 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import math
-import os
-
-import pandas as pd
-from datasets import Dataset, Features, Image, Sequence, Value
-
-
-def parse_args():
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--data", required=True, help="Path to preview folder")
-    parser.add_argument("--repo", required=True, help="HF dataset repo (e.g. org/name)")
-    parser.add_argument("--split", default="preview", help="Dataset split name")
-    return parser.parse_args()
-
-
-def _coerce_dt(x: object) -> float:
-    """Coerce merge-produced values (NaN/None/str) into a sane float offset."""
-    try:
-        v = float(x)
-    except (TypeError, ValueError):
-        return 0.0
-    if math.isnan(v) or math.isinf(v):
-        return 0.0
-    return v
-
-
-def main():
-    args = parse_args()
-
-    data_dir = args.data
-    imu_path = os.path.join(data_dir, "imu.csv")
-    odom_path = os.path.join(data_dir, "odom.csv")
-
-    if not os.path.exists(imu_path):
-        raise FileNotFoundError(f"imu.csv not found in {data_dir}")
-
-    print("Loading IMU data...")
-    imu = pd.read_csv(imu_path)
-
-    # Normalize timestamps (filename-friendly and merge-stable).
-    imu["t"] = imu["t"].map(lambda x: f"{float(x):.6f}")
-
-    has_odom = os.path.exists(odom_path)
-    if has_odom:
-        print("Loading ODOM data...")
-        odom = pd.read_csv(odom_path)
-        odom["t"] = odom["t"].map(lambda x: f"{float(x):.6f}")
-        df = pd.merge(imu, odom, on="t", how="left")
-    else:
-        print("No odom.csv found -> filling pose with inf")
-        df = imu.copy()
-
-    print(f"Rows after merge: {len(df)}")
-
-    left_paths = []
-    right_paths = []
-    timestamps = []
-    gyro = []
-    accel = []
-    sync_dt = []
-    position = []
-    orientation = []
-
-    missing = 0
-    for _, row in df.iterrows():
-        t = row["t"]
-
-        l = os.path.join(data_dir, "left", f"{t}.png")
-        r = os.path.join(data_dir, "right", f"{t}.png")
-
-        if not os.path.exists(l) or not os.path.exists(r):
-            missing += 1
-            continue
-
-        left_paths.append(l)
-        right_paths.append(r)
-        timestamps.append(float(t))
-
-        # IMU
-        gyro.append([row["gx"], row["gy"], row["gz"]])
-        accel.append([row["ax"], row["ay"], row["az"]])
-
-        # Sync offsets (seconds) relative to the left-image timestamp.
-        dt_r = _coerce_dt(row.get("dt_right", 0.0))
-        dt_i = _coerce_dt(row.get("dt_imu", 0.0))
-        sync_dt.append([dt_r, dt_i])
-
-        # ODOM (optional)
-        if has_odom:
-            position.append([row["px"], row["py"], row["pz"]])
-            orientation.append([row["qx"], row["qy"], row["qz"], row["qw"]])
-        else:
-            position.append([math.inf, math.inf, math.inf])
-            orientation.append([math.inf, math.inf, math.inf, math.inf])
-
-    if not left_paths:
-        raise RuntimeError("No valid samples found")
-
-    if missing:
-        print(f"Skipped {missing} rows due to missing images")
-
-    print(f"Final dataset size: {len(left_paths)}")
-
-    features = Features(
-        {
-            "image_left": Image(),
-            "image_right": Image(),
-            "timestamp": Value("float64"),
-            "gyro": Sequence(Value("float32"), length=3),
-            "accel": Sequence(Value("float32"), length=3),
-            "sync_dt": Sequence(Value("float32"), length=2),
-            "position": Sequence(Value("float32"), length=3),
-            "orientation": Sequence(Value("float32"), length=4),
-        }
-    )
-
-    data = {
-        "image_left": left_paths,
-        "image_right": right_paths,
-        "timestamp": timestamps,
-        "gyro": gyro,
-        "accel": accel,
-        "sync_dt": sync_dt,
-        "position": position,
-        "orientation": orientation,
-    }
-
-    print("Creating Hugging Face dataset...")
-    ds = Dataset.from_dict(data, features=features)
-
-    print(ds)
-
-    print(f"Pushing to {args.repo} (split={args.split})...")
-    ds.push_to_hub(args.repo, split=args.split)
-
-    print("Done.")
-
-
-if __name__ == "__main__":
-    main()
-