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Merged
tizianoGuadagnino merged 3 commits into from
Mar 14, 2025
Merged

Gupta/fix serialized dataloaders #445

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41b287b
add reset option to mcap dataloader
saurabh1002 Mar 13, 2025
2d55102
add reset option to rosbag dataloader
saurabh1002 Mar 13, 2025
9d6fdea
reset timestamps as well
saurabh1002 Mar 13, 2025
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16 changes: 12 additions & 4 deletions python/kiss_icp/datasets/mcap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,15 +42,18 @@ def __init__(self, data_dir: str, topic: str, *_, **__):
# we expect `data_dir` param to be a path to the .mcap file, so rename for clarity
assert os.path.isfile(data_dir), "mcap dataloader expects an existing MCAP file"
self.sequence_id = os.path.basename(data_dir).split(".")[0]
mcap_file = str(data_dir)
self.mcap_file = str(data_dir)

self.bag = make_reader(open(mcap_file, "rb"))
self.make_reader = make_reader
self.read_ros2_messages = read_ros2_messages
self.read_point_cloud = read_point_cloud

self.bag = self.make_reader(open(self.mcap_file, "rb"))
self.summary = self.bag.get_summary()
self.topic = self.check_topic(topic)
self.n_scans = self._get_n_scans()
self.msgs = read_ros2_messages(mcap_file, topics=[self.topic])
self.msgs = self.read_ros2_messages(self.mcap_file, topics=[self.topic])
self.timestamps = []
self.read_point_cloud = read_point_cloud
self.use_global_visualizer = True

def __del__(self):
Expand All @@ -72,6 +75,11 @@ def _get_n_scans(self) -> int:
if self.summary.channels[id].topic == self.topic
)

def reset(self):
self.timestamps = []
self.bag = self.make_reader(open(self.mcap_file, "rb"))
self.msgs = self.read_ros2_messages(self.mcap_file, topics=[self.topic])

@staticmethod
def stamp_to_sec(stamp):
return stamp.sec + float(stamp.nanosec) / 1e9
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10 changes: 8 additions & 2 deletions python/kiss_icp/datasets/rosbag.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,8 @@ def __init__(self, data_dir: Path, topic: str, *_, **__):
self.n_scans = self.bag.topics[self.topic].msgcount

# limit connections to selected topic
connections = [x for x in self.bag.connections if x.topic == self.topic]
self.msgs = self.bag.messages(connections=connections)
self.connections = [x for x in self.bag.connections if x.topic == self.topic]
self.msgs = self.bag.messages(connections=self.connections)
self.timestamps = []

# Visualization Options
Expand All @@ -88,6 +88,12 @@ def __getitem__(self, idx):
msg = self.bag.deserialize(rawdata, connection.msgtype)
return self.read_point_cloud(msg)

def reset(self):
self.timestamps = []
self.bag.close()
self.bag.open()
self.msgs = self.bag.messages(connections=self.connections)

@staticmethod
def to_sec(nsec: int):
return float(nsec) / 1e9
Expand Down
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