File size: 2,358 Bytes
f15a766 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | """Batch GT|pred side-by-side videos for every prediction window of a checkpoint.
Mirrors the preds/<episode>/start<NNNN>.npz layout: writes one combined mp4 per
window to <ckpt-dir>/<out-name>/<episode>/start<NNNN>.mp4 (GT left + label, pred right).
"""
import argparse
from pathlib import Path
import numpy as np
from PIL import Image, ImageDraw
DATA = Path("/workspace/gnn_data/hanoi_0420_balanced_5fps")
W, H, SEP = 320, 192, 4
def label(arr, text, xy=(5, 5)):
im = Image.fromarray(arr)
d = ImageDraw.Draw(im)
tw = len(text) * 6 + 8
d.rectangle([xy[0] - 3, xy[1] - 3, xy[0] + tw, xy[1] + 13], fill=(0, 0, 0))
d.text(xy, text, fill=(255, 255, 255))
return np.asarray(im)
def load_gt(episode, frame_ids):
out = []
for fid in frame_ids:
im = Image.open(DATA / episode / "side" / "rgb" / f"frame_{int(fid):06d}.png").convert("RGB").resize((W, H), Image.BILINEAR)
out.append(np.asarray(im, dtype=np.uint8))
return np.stack(out)
def write_mp4(path, frames, fps):
try:
import mediapy as media
media.write_video(str(path), frames, fps=fps)
except Exception:
import imageio.v2 as imageio
imageio.mimwrite(str(path), frames, fps=fps, macro_block_size=None)
def main():
ap = argparse.ArgumentParser()
ap.add_argument("--ckpt-dir", type=Path, required=True)
ap.add_argument("--out-name", default="viz_gt_vs_pred")
ap.add_argument("--fps", type=int, default=5)
cli = ap.parse_args()
preds = cli.ckpt_dir / "preds"
out_root = cli.ckpt_dir / cli.out_name
npzs = sorted(preds.glob("*/start*.npz"))
print(f"{len(npzs)} windows -> {out_root}")
sep = np.full((H, SEP, 3), 255, np.uint8)
for i, npz in enumerate(npzs, 1):
episode = npz.parent.name
d = np.load(npz)
pred, fids = d["pred"], d["frame_ids"]
gt = load_gt(episode, fids)
frames = np.stack([
np.concatenate([label(gt[k], "GT"), sep, label(pred[k], "PRED")], axis=1)
for k in range(len(pred))
])
od = out_root / episode
od.mkdir(parents=True, exist_ok=True)
write_mp4(od / f"{npz.stem}.mp4", frames, cli.fps)
if i % 15 == 0 or i == len(npzs):
print(f" {i}/{len(npzs)}", flush=True)
print("done:", out_root)
if __name__ == "__main__":
main()
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