Update minor things

Author: benemer

scripts/cache_to_ply.py

@@ -52,7 +52,7 @@ def cache_to_ply(
         help="The directory where the cache should be created",
         show_default=False,
     ),
-    sequence: Optional[str] = typer.Option(
+    sequence: Optional[List[str]] = typer.Option(
         None,
         "--sequence",
         "-s",
@@ -76,13 +76,14 @@ def cache_to_ply(
 
     # Run
     cfg = load_config(config)
+    sequences = sequence if sequence != None else cfg.training.train + cfg.training.val
 
     data_iterable = DataLoader(
         MapMOSDataset(
             dataloader=dataloader,
             data_dir=data,
             config=cfg,
-            sequences=[sequence],
+            sequences=sequences,
             cache_dir=cache_dir,
         ),
         batch_size=1,

scripts/precache.py

@@ -25,6 +25,7 @@
 from typing import List, Optional
 
 import typer
+from click import Option
 from tqdm import tqdm
 
 from mapmos.config import load_config
@@ -46,7 +47,7 @@ def precache(
         help="The directory where the cache should be created",
         show_default=False,
     ),
-    sequence: List[str] = typer.Option(
+    sequence: Optional[List[str]] = typer.Option(
         None,
         "--sequence",
         "-s",
@@ -67,7 +68,7 @@ def precache(
     from mapmos.datasets.mapmos_dataset import MapMOSDataset, collate_fn
 
     cfg = load_config(config)
-    sequences = list(sequence) if sequence != None else cfg.training.train + cfg.training.val
+    sequences = sequence if sequence != None else cfg.training.train + cfg.training.val
 
     data_iterable = DataLoader(
         MapMOSDataset(

src/mapmos/datasets/kitti.py

@@ -51,13 +51,21 @@ def __init__(self, data_dir, sequence: str, *_, **__):
         self.label_dir = os.path.join(self.kitti_sequence_dir, "labels/")
         self.label_files = sorted(glob.glob(self.label_dir + "*.label"))
 
+        # Account for incomplete label files
+        label_map = {os.path.basename(path): path for path in self.label_files}
+        if len(self.label_files) != len(self.scan_files):
+            self.label_files = [
+                label_map.get(os.path.basename(scan_file).replace(".bin", ".label"), None)
+                for scan_file in self.scan_files
+            ]
+
     def __getitem__(self, idx):
         points, timestamps = self.scans(idx)
         labels = (
             self.read_labels(self.label_files[idx])
-            if self.label_files
+            if (self.label_files and self.label_files[idx] != None)
             else np.full((len(points), 1), -1, dtype=np.int32)
-        )
+        ).reshape(-1)
         return points, timestamps, labels
 
     def read_labels(self, filename):