| """Smoke-check raw + depth layout for coaf_dataset_24_25.""" |
|
|
| from __future__ import annotations |
|
|
| import argparse |
| import json |
| import sys |
| from pathlib import Path |
|
|
| import cv2 |
| import numpy as np |
|
|
| SCRIPT_DIR = Path(__file__).resolve().parent |
| sys.path.insert(0, str(SCRIPT_DIR)) |
| from sampling import RGB_FRAMES, REASON_FRAMES |
|
|
| DATASET_ROOT = Path("/project/llmsvgen/sunkai/robomaster_3d/Casual_CoAF/coaf_dataset_24_25") |
|
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|
|
| def check_episode(ep_dir: Path, check_depth: bool) -> list[str]: |
| errors = [] |
| ep_name = ep_dir.name |
|
|
| for sub, n in (("rgb", RGB_FRAMES), ("rgb_align", REASON_FRAMES)): |
| d = ep_dir / sub |
| if not d.is_dir(): |
| errors.append(f"{ep_name}: missing {sub}/") |
| continue |
| for i in range(1, n + 1): |
| if not (d / f"frame_{i:04d}.png").exists(): |
| errors.append(f"{ep_name}: missing {sub}/frame_{i:04d}.png") |
| break |
|
|
| state_path = ep_dir / "state" / "state.npy" |
| action_path = ep_dir / "action" / "action.npy" |
| if not state_path.exists(): |
| errors.append(f"{ep_name}: missing state.npy") |
| else: |
| state = np.load(state_path) |
| if state.shape != (REASON_FRAMES, 7): |
| errors.append(f"{ep_name}: state shape {state.shape}") |
| if not action_path.exists(): |
| errors.append(f"{ep_name}: missing action.npy") |
| else: |
| action = np.load(action_path) |
| if action.shape != (REASON_FRAMES, 7): |
| errors.append(f"{ep_name}: action shape {action.shape}") |
|
|
| manifest_path = ep_dir / "manifest.json" |
| if not manifest_path.exists(): |
| errors.append(f"{ep_name}: missing manifest.json") |
| else: |
| manifest = json.loads(manifest_path.read_text()) |
| if len(manifest.get("reason_indices", [])) != REASON_FRAMES: |
| errors.append(f"{ep_name}: bad reason_indices length") |
| if len(manifest.get("rgb_indices", [])) != RGB_FRAMES: |
| errors.append(f"{ep_name}: bad rgb_indices length") |
|
|
| if check_depth: |
| depth_mp4 = DATASET_ROOT / "modalities" / "depth" / ep_name / "depth.mp4" |
| if not depth_mp4.exists(): |
| errors.append(f"{ep_name}: missing depth.mp4") |
| else: |
| cap = cv2.VideoCapture(str(depth_mp4)) |
| n = 0 |
| while True: |
| ret, _ = cap.read() |
| if not ret: |
| break |
| n += 1 |
| cap.release() |
| if n != REASON_FRAMES: |
| errors.append(f"{ep_name}: depth.mp4 has {n} frames, expected {REASON_FRAMES}") |
|
|
| return errors |
|
|
|
|
| def main() -> None: |
| parser = argparse.ArgumentParser() |
| parser.add_argument("--start", type=int, default=0) |
| parser.add_argument("--stop", type=int, default=5000) |
| parser.add_argument("--check-depth", action="store_true") |
| args = parser.parse_args() |
|
|
| raw_root = DATASET_ROOT / "raw" |
| all_errors = [] |
| checked = 0 |
| for idx in range(args.start, args.stop): |
| ep_dir = raw_root / f"episode_{idx:06d}" |
| if not ep_dir.exists(): |
| all_errors.append(f"episode_{idx:06d}: raw dir missing") |
| continue |
| all_errors.extend(check_episode(ep_dir, args.check_depth)) |
| checked += 1 |
|
|
| if all_errors: |
| print("FAILED:") |
| for e in all_errors: |
| print(f" - {e}") |
| raise SystemExit(1) |
|
|
| print(f"OK: {checked} episodes verified" |
| f"{' (with depth)' if args.check_depth else ''}") |
|
|
|
|
| if __name__ == "__main__": |
| main() |
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|
