private static Hdf5Container_LidarDaimler ReadContainer(string sFilePath_inp)
{
int status = 0;
long file_id = H5F.open(sFilePath_inp, H5F.ACC_RDWR);
long testDataset_id = H5D.open(file_id, "distance");
long testDataspace_id = H5D.get_space(testDataset_id);
ulong[] dims = new ulong[2];
status = H5S.get_simple_extent_dims(testDataspace_id, dims, null);
int rows = Convert.ToInt32(dims[0]);
int cols = Convert.ToInt32(dims[1]);
Hdf5Container_LidarDaimler outContainer = new Hdf5Container_LidarDaimler(rows, cols)
{
_distances = Hdf5IO.GetFloatDataset(H5D.open(file_id, "distance"), rows, cols),
_intensity = Hdf5IO.GetFloatDataset(H5D.open(file_id, "intensity"), rows, cols),
_labelProbabilities = Hdf5IO.GetFloatDataset(H5D.open(file_id, "labelProbabilities"), rows, cols),
_labelWorkingSet = Hdf5IO.GetLabelWorkingSet(H5G.open(file_id, "labelWorkingSet")),
_labels = Hdf5IO.GetUintDataset(H5D.open(file_id, "labels"), rows, cols),
_pointValid = Hdf5IO.GetIntDataset(H5D.open(file_id, "pointValid"), rows, cols),
_sensorX = Hdf5IO.GetFloatDataset(H5D.open(file_id, "sensorX"), rows, cols),
_sensorY = Hdf5IO.GetFloatDataset(H5D.open(file_id, "sensorY"), rows, cols),
_sensorZ = Hdf5IO.GetFloatDataset(H5D.open(file_id, "sensorZ"), rows, cols),
_vehicleX = Hdf5IO.GetFloatDataset(H5D.open(file_id, "vehicleX"), rows, cols),
_vehicleY = Hdf5IO.GetFloatDataset(H5D.open(file_id, "vehicleY"), rows, cols),
_vehicleZ = Hdf5IO.GetFloatDataset(H5D.open(file_id, "vehicleZ"), rows, cols)
};
status = H5F.close(file_id);
return(outContainer);
}
private static InternalDataFormat CreateInternalDataFormat(Hdf5Container_LidarDaimler hdf5Container_input, int rowIndex_inp, int columIndex)
{
int ID = int.Parse(Convert.ToString(rowIndex_inp + 1) + Convert.ToString(columIndex + 1));
Vector3 position = new Vector3(hdf5Container_input._vehicleX[rowIndex_inp, columIndex], hdf5Container_input._vehicleY[rowIndex_inp, columIndex], hdf5Container_input._vehicleZ[rowIndex_inp, columIndex]);
uint label = hdf5Container_input._labels[rowIndex_inp, columIndex];
return(new InternalDataFormat(ID, position, label, 2));
}
public Hdf5MetaData_LidarDaimler(int ID_inp, Hdf5Container_LidarDaimler container_inp, int rowIndex_inp, int columIndex_inp)
{
_ID = ID_inp;
_tableIndex = new Tuple <int, int>(rowIndex_inp, columIndex_inp);
_distance = container_inp._distances[rowIndex_inp, columIndex_inp];
_intensity = container_inp._intensity[rowIndex_inp, columIndex_inp];
_labelprobability = container_inp._labelProbabilities[rowIndex_inp, columIndex_inp];
_pointvalid = container_inp._pointValid[rowIndex_inp, columIndex_inp];
_sensor = new Vector3(container_inp._sensorX[rowIndex_inp, columIndex_inp],
container_inp._sensorY[rowIndex_inp, columIndex_inp],
container_inp._sensorZ[rowIndex_inp, columIndex_inp]);
_vehicle = new Vector3(container_inp._vehicleX[rowIndex_inp, columIndex_inp],
container_inp._vehicleY[rowIndex_inp, columIndex_inp],
container_inp._vehicleZ[rowIndex_inp, columIndex_inp]);
}
public static List <List <InternalDataFormat> > ReadHdf5_DaimlerLidar(string loadPath_inp, ref List <string> paths_ref)
{
string[] filePaths;
List <List <InternalDataFormat> > listOfDataLists_out = new List <List <InternalDataFormat> >();
if (loadPath_inp.Substring(loadPath_inp.Length - 5) == ".hdf5")
{
//single file
string[] temp = new string[1];
temp[0] = loadPath_inp;
filePaths = temp;
paths_ref.Add(loadPath_inp);
}
else
{
//directory
filePaths = Directory.GetFiles(loadPath_inp + "\\", "*.hdf5");
for (int i = 0; i < filePaths.Length; i++)
{
paths_ref.Add(filePaths[i]);
}
}
Debug.Log("Loading FIles: ");
Debug.Log(filePaths);
for (int i = 0; i < filePaths.Length; i++)
{
Hdf5Container_LidarDaimler container = ReadContainer(filePaths[i]);
List <InternalDataFormat> listOfData = Processhdf5Container_DaimlerLidar(i, container);
Labeling.SetNewLabelClasses(container._labelWorkingSet);
listOfDataLists_out.Add(listOfData);
}
return(listOfDataLists_out);
}
public static void OverwriteHdf5_DaimlerLidar(int fileIndex_inp, Dictionary <Tuple <int, int>, int> indexToID, Hdf5Container_LidarDaimler container, List <GameObject> pointList, string pathToFile_inp)
{
var previousTime = Time.realtimeSinceStartup;
var duration = Time.realtimeSinceStartup - previousTime;
previousTime = Time.realtimeSinceStartup;
Debug.Log("Start: " + duration);
int status = 0;
long file_id = H5F.open(pathToFile_inp, H5F.ACC_RDWR);
int rows = container._labels.GetLength(0);
int cols = container._labels.GetLength(1);
uint[,] labels = new uint[rows, cols];
var pointValid = container._pointValid;
labels = container._labels;
pointList.OrderBy(x => x.GetComponent <CustomAttributes>()._ID);
indexToID.OrderBy(x => x.Value);
for (int i = 0; i < pointList.Count; i++)
{
var attr = pointList[i].GetComponent <CustomAttributes>();
var key = indexToID.ElementAt(i).Key;
labels[key.Item1, key.Item2] = attr._label;
}
//for (int i = 0; i < pointList.Count; i++)
//{
// var attr = pointList[i].GetComponent<CustomAttributes>();
// var index = indexToID.First(indx => indx.Value == attr._ID).Key;
// labels[index.Item1, index.Item2] = attr._label;
//}
Hdf5IO.WriteUIntDataset(file_id, "labels", labels, true);
Hdf5IO.WriteLabelWorkingSet(file_id, true);
status = H5F.close(file_id);
}
public static void CreateNewHdf5File_DaimlerLidar(int fileIndex_inp, Dictionary <Tuple <int, int>, int> indexToID, Hdf5Container_LidarDaimler container, List <GameObject> pointList, string exportDatapath)
{
int status = 0;
long file_id = H5F.create(exportDatapath, H5F.ACC_TRUNC);
int rows = container._labels.GetLength(0);
int cols = container._labels.GetLength(1);
uint[,] labels = container._labels;
pointList.OrderBy(x => x.GetComponent <CustomAttributes>()._ID);
indexToID.OrderBy(x => x.Value);
for (int i = 0; i < pointList.Count; i++)
{
var attr = pointList[i].GetComponent <CustomAttributes>();
labels[indexToID.ElementAt(i).Key.Item1, indexToID.ElementAt(i).Key.Item2] = attr._label;
}
//for (int i = 0; i < pointList.Count; i++)
//{
// var attr = pointList[i].GetComponent<CustomAttributes>();
// var index = indexToID.First(indx => indx.Value == attr._ID).Key;
// labels[index.Item1, index.Item2] = attr._label;
//}
Hdf5IO.WriteUIntDataset(file_id, "labels", labels, false);
Hdf5IO.WriteLabelWorkingSet(file_id, false);
//write unchangenged datasets
Hdf5IO.WriteFloatDataset(file_id, "distance", container._distances, false);
Hdf5IO.WriteFloatDataset(file_id, "intensity", container._intensity, false);
Hdf5IO.WriteFloatDataset(file_id, "labelProbabilities", container._labelProbabilities, false);
Hdf5IO.WriteIntDataset(file_id, "pointValid", container._pointValid, false);
Hdf5IO.WriteFloatDataset(file_id, "sensorX", container._sensorX, false);
Hdf5IO.WriteFloatDataset(file_id, "sensorY", container._sensorY, false);
Hdf5IO.WriteFloatDataset(file_id, "sensorZ", container._sensorZ, false);
Hdf5IO.WriteFloatDataset(file_id, "vehicleX", container._vehicleX, false);
Hdf5IO.WriteFloatDataset(file_id, "vehicleY", container._vehicleY, false);
Hdf5IO.WriteFloatDataset(file_id, "vehicleZ", container._vehicleZ, false);
status = H5F.close(file_id);
}
private static List <InternalDataFormat> Processhdf5Container_DaimlerLidar(int fileIndex, Hdf5Container_LidarDaimler hdf5Container_inp)
{
List <InternalDataFormat> listOfData_out = new List <InternalDataFormat>();
MetaData.Hdf5_DaimlerLidar._importedContainers.Add(hdf5Container_inp);
MetaData.Hdf5_DaimlerLidar._tableIndexToID.Add(new Dictionary <Tuple <int, int>, int>());
int containerRows = hdf5Container_inp._distances.GetLength(0);
int containerCols = hdf5Container_inp._distances.GetLength(1);
for (int j = 0; j < containerRows; j++)
{
for (int k = 0; k < containerCols; k++)
{
InternalDataFormat data = CreateInternalDataFormat(hdf5Container_inp, j, k);
MetaData.Hdf5_DaimlerLidar._tableIndexToID[fileIndex].Add(new Tuple <int, int>(j, k), data._ID);
if (hdf5Container_inp._pointValid[j, k] == 1)
{
listOfData_out.Add(data);
}
}
}
return(listOfData_out);
}
