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directory.""" +import argparse, json, os +from pathlib import Path +import egopressure_pilot_v4 as adapter +from egopressure_pilot_v4_validate import validate + +def main(): + parser=argparse.ArgumentParser() + parser.add_argument('sequence') + parser.add_argument('--out',required=True,type=Path) + args=parser.parse_args() + docs=Path(__file__).resolve().parent.parent/'doc' + known={row['sequence'] for row in json.loads((docs/'SOURCE_SEQUENCE_MANIFEST.json').read_text())} + if args.sequence not in known: raise ValueError('Unknown sequence') + args.out.mkdir(parents=True,exist_ok=False) + model_dir=Path(os.environ['EGOPRESSURE_MANO_PATH']) + models, fn=adapter.load_models(model_dir) + profile=dict(model='MANO',vertices=778,flat_hand_mean=True,use_pca=False,left_shapedirs_fix_applied=False,per_vertex_refinement=False, + assets_sha256={h:adapter.sha256(model_dir/('MANO_'+h+'.pkl')) for h in models}) + adapter.STATUS=args.out/'progress.json' + adapter.ADAPTER='egopressure-official-k4a-rgb-only-full/1.0' + revision=json.loads((docs/'repository_revision.json').read_text())['revision'] + adapter.build(args.sequence,args.out,models,fn,profile,revision) + view=args.out/'data'/args.sequence/'cam-d-rgb' + meta=json.loads((view/'metainfo.json').read_text()) + meta['processing']=meta.pop('pilot') + meta['processing']['scope']='All 1344 selected ego d sequences; original RGB plus official SDK depth-to-RGB' + meta['calibration']['status']='User-approved empirical offset; not official recalibration' + adapter.write_json(view/'metainfo.json',meta) + validate(args.out) + +if __name__=='__main__': main() diff --git a/EgoPressure/shared-v1.1/script/egopressure_k4a.py b/EgoPressure/shared-v1.1/script/egopressure_k4a.py new file mode 100644 index 0000000000000000000000000000000000000000..3c4259bef0f6f0e72471e95e35b0f0897170fb72 --- /dev/null +++ b/EgoPressure/shared-v1.1/script/egopressure_k4a.py @@ -0,0 +1,78 @@ +"""Azure Kinect Sensor SDK 1.4.1 ABI bridge; actual Microsoft k4a.dll calls.""" +import ctypes as C,os,json,hashlib +from pathlib import Path +import numpy as np +HERE=Path(__file__).resolve().parent +WORK=Path(os.environ.get('EGOPRESSURE_WORK_DIR',str(HERE.parent/'work'))) +SDK=Path(os.environ.get('EGOPRESSURE_K4A_SDK',str(WORK/'k4a_sdk_1_4_1'))) +class Extrinsics(C.Structure):_fields_=[('rotation',C.c_float*9),('translation',C.c_float*3)] +class Intrinsics(C.Structure):_fields_=[('type',C.c_int),('parameter_count',C.c_uint),('parameters',C.c_float*15)] +class Camera(C.Structure):_fields_=[('extrinsics',Extrinsics),('intrinsics',Intrinsics),('resolution_width',C.c_int),('resolution_height',C.c_int),('metric_radius',C.c_float)] +class Calibration(C.Structure):_fields_=[('depth_camera_calibration',Camera),('color_camera_calibration',Camera),('extrinsics',(Extrinsics*4)*4),('depth_mode',C.c_int),('color_resolution',C.c_int)] +assert C.sizeof(Calibration)==1032 +_dll_dir=os.add_dll_directory(str(SDK/'lib/native/amd64/release')) +lib=C.CDLL(str(SDK/'lib/native/amd64/release/k4a.dll')) +def bind(name,ret,args): + f=getattr(lib,name);f.restype=ret;f.argtypes=args;return f +P=C.c_void_p;I=C.c_int;CP=C.POINTER(Calibration) +raw_cal=bind('k4a_calibration_get_from_raw',I,[P,C.c_size_t,I,I,CP]) +create=bind('k4a_transformation_create',P,[CP]);destroy=bind('k4a_transformation_destroy',None,[P]) +img_create=bind('k4a_image_create',I,[I,I,I,I,C.POINTER(P)]);img_release=bind('k4a_image_release',None,[P]) +img_buffer=bind('k4a_image_get_buffer',P,[P]) +d2c=bind('k4a_transformation_depth_image_to_color_camera',I,[P,P,P]) +c2d=bind('k4a_transformation_color_image_to_depth_camera',I,[P,P,P,P]) +point3=bind('k4a_calibration_3d_to_3d',I,[CP,P,I,I,P]) +point2=bind('k4a_calibration_3d_to_2d',I,[CP,P,I,I,P,C.POINTER(I)]) +def matrix(e): + m=np.eye(4);m[:3,:3]=np.array(e.rotation).reshape(3,3);m[:3,3]=np.array(e.translation);return m +def assign(e,m): + e.rotation[:]=m[:3,:3].ravel();e.translation[:]=m[:3,3] +class SDKRegistration: + def __init__(self,factory,config,offset_mm): + self.cal=Calibration();b=C.create_string_buffer(json.dumps(factory).encode()) + if raw_cal(b,len(b),3,2,C.byref(self.cal))!=0:raise RuntimeError('SDK calibration parse failed') + self.factory_calibration_bytes=bytes(self.cal) + assert (self.cal.depth_camera_calibration.resolution_width,self.cal.depth_camera_calibration.resolution_height)==(512,512) + dep=self.cal.depth_camera_calibration;col=self.cal.color_camera_calibration + self.depth_K=np.array([[dep.intrinsics.parameters[2],0,dep.intrinsics.parameters[0]],[0,dep.intrinsics.parameters[3],dep.intrinsics.parameters[1]],[0,0,1]]) + self.width=config['ImageSizeX'];self.height=config['ImageSizeY'] + assert (self.width,self.height)==(1920,1080) + col.intrinsics.type=4;col.intrinsics.parameter_count=14 + col.intrinsics.parameters[:]=[config['cx'],config['cy'],config['fx'],config['fy']]+[0]*10+[10] + col.metric_radius=10;col.resolution_width=self.width;col.resolution_height=self.height + t=np.asarray(config['DepthToColor'],float).copy();t[:3,3]*=1000;t[2,3]+=offset_mm + # All SDK translations are MILLIMETRES. Preserve the four coordinate-system relations. + depth_from=[matrix(self.cal.extrinsics[i][0]) for i in range(4)];depth_from[1]=np.linalg.inv(t) + for i in range(4): + for j in range(4):assign(self.cal.extrinsics[i][j],np.linalg.inv(depth_from[j])@depth_from[i]) + assign(col.extrinsics,t) + self.T=t;self.handle=create(C.byref(self.cal)) + if not self.handle:raise RuntimeError('SDK transformation create failed') + self.images=[] + def alloc(fmt,w,h,bpp): + p=P() + if img_create(fmt,w,h,w*bpp,C.byref(p)):raise RuntimeError('SDK image allocation failed') + self.images.append(p);return p + self.di=alloc(4,512,512,2);self.ci=alloc(3,self.width,self.height,4) + self.do=alloc(4,self.width,self.height,2);self.co=alloc(3,512,512,4) + self.calls={'depth_to_color':0,'color_to_depth':0} + def transform(self,sensor,rgb): + assert sensor.dtype==np.uint16 and sensor.shape==(512,512) + assert rgb.dtype==np.uint8 and rgb.shape==(self.height,self.width,3) + bgra=np.empty((self.height,self.width,4),np.uint8);bgra[:,:,:3]=rgb[:,:,::-1];bgra[:,:,3]=255 + sensor=np.ascontiguousarray(sensor);C.memmove(img_buffer(self.di),sensor.ctypes.data,sensor.nbytes);C.memmove(img_buffer(self.ci),bgra.ctypes.data,bgra.nbytes) + if d2c(self.handle,self.di,self.do):raise RuntimeError('k4a_transformation_depth_image_to_color_camera failed') + self.calls['depth_to_color']+=1 + if c2d(self.handle,self.di,self.ci,self.co):raise RuntimeError('k4a_transformation_color_image_to_depth_camera failed') + self.calls['color_to_depth']+=1 + d=np.ctypeslib.as_array((C.c_uint16*(self.width*self.height)).from_address(img_buffer(self.do))).reshape(self.height,self.width).copy() + a=np.ctypeslib.as_array((C.c_uint8*(512*512*4)).from_address(img_buffer(self.co))).reshape(512,512,4).copy() + return d,a + def close(self): + for p in self.images:img_release(p) + self.images=[] + if self.handle:destroy(self.handle);self.handle=None + def __del__(self): + if hasattr(self,'images'):self.close() + def provenance(self): + return {'sdk':'Microsoft.Azure.Kinect.Sensor','version':'1.4.1','dll_sha256':hashlib.sha256((SDK/'lib/native/amd64/release/k4a.dll').read_bytes()).hexdigest(),'interfaces':['k4a_calibration_get_from_raw','k4a_transformation_create','k4a_transformation_depth_image_to_color_camera','k4a_transformation_color_image_to_depth_camera'],'depth_mode':'WFOV_2X2BINNED','color_resolution':'1080P','calibration_adaptation':'Source RGB is already undistorted: config RGB K, zero color distortion, color metric radius 10; depth factory calibration parsed by SDK; config DepthToColor plus approved optical-Z offset; SDK translations in mm.','T_rgb_from_depth_mm':self.T.tolist(),'native_depth_K':self.depth_K.tolist(),'calls':self.calls.copy(),'depth_output':'Official uint16 mm, zero invalid; losslessly normalized to float32 metres.','rgb_support':'Official BGRA alpha != 0. SDK C2D does not resolve occlusions; no extra custom visibility or hole filling.'} diff --git a/EgoPressure/shared-v1.1/script/egopressure_pilot.py b/EgoPressure/shared-v1.1/script/egopressure_pilot.py new file mode 100644 index 0000000000000000000000000000000000000000..769a65fdcae051bc491dc6bb6f26145f0a2324ee --- /dev/null +++ b/EgoPressure/shared-v1.1/script/egopressure_pilot.py @@ -0,0 +1,186 @@ +"""Four complete EgoPressure ego sequences -> hand-warehouse/1.1 pilot. + +Original files are read-only. No processed data or MANO weights are uploaded. +""" +import os +os.environ.setdefault("OMP_NUM_THREADS", "2") +os.environ.setdefault("OPENBLAS_NUM_THREADS", "2") +import argparse +from datetime import datetime, timezone +from fractions import Fraction +import hashlib +import importlib.util +import json +from pathlib import Path +import shutil +import sys +import time + +WORK = Path(__file__).resolve().parent.parent / "work" +sys.path.insert(0, str(WORK / "pilot_runtime")) +import av +import cv2 +import numpy as np +import pyarrow.parquet as pq +from scipy.spatial.transform import Rotation +import torch +torch.set_num_threads(2) +cv2.setNumThreads(1) + +SEQUENCES = ["p_001_press_palm_low_x5_left", "p_001_press_palm_low_x5_right", + "p_002_grasp-edge_curled_thumb-down_5x_left", "p_002_grasp-edge_curled_thumb-down_5x_right"] +PROFILE = "pt/tensor_bundle/v1" +ADAPTER = "egopressure-pilot/0.1" +REF = WORK / "pilot_reference" + + +def sha256(path): + h = hashlib.sha256() + with Path(path).open("rb") as stream: + for chunk in iter(lambda: stream.read(8 * 1024 * 1024), b""): + h.update(chunk) + return h.hexdigest() + + +def write_json(path, value): + path = Path(path) + path.parent.mkdir(parents=True, exist_ok=True) + tmp = path.with_name(path.name + ".tmp") + tmp.write_text(json.dumps(value, ensure_ascii=False, indent=2, allow_nan=False), encoding="utf-8") + tmp.replace(path) + + +def log(message): + print(datetime.now().astimezone().isoformat(timespec="seconds"), message, flush=True) + + +def source_rows(path): + rows = pq.read_table(path).to_pylist() + ids = [r["frame"] for r in rows] + if len(ids) != len(set(ids)): + raise ValueError("Duplicate source frame IDs") + return {r["frame"]: r for r in rows} + + +def encoded_bytes(value): + return value["bytes"] if isinstance(value, dict) else value + + +def decode_rgb(decoder, data): + frames = decoder.decode(av.Packet(data)) + if len(frames) != 1: + raise ValueError("Expected exactly one source JPEG image") + return frames[0].to_ndarray(format="rgb24") + + +def decode_depth(row): + b = encoded_bytes(row["depth"]) + d = cv2.imdecode(np.frombuffer(b, np.uint8), cv2.IMREAD_UNCHANGED) + if d is None or d.dtype != np.uint16 or d.shape != (512, 512): + raise ValueError("Unexpected source depth encoding") + return d + + +class Registration: + """Factory Brown-Conrady depth rays -> undistorted color camera Z. + + A single measured point is splatted to floor(u),floor(v), with nearest-Z + collision resolution. No spatial filling or interpolation is performed. + """ + def __init__(self, factory, K, width, height): + cams = factory["CalibrationInformation"]["Cameras"] + dep = next(c for c in cams if c["Location"].endswith("D0")) + col = next(c for c in cams if c["Location"].endswith("PV0")) + p = dep["Intrinsics"]["ModelParameters"] + if not np.allclose(p[10:12], 0): + raise ValueError("Nonzero center-of-distortion offsets need a separate adapter") + self.Kd = np.array([[p[2]*512, 0, p[0]*512], [0, p[3]*512, p[1]*512], [0, 0, 1]], np.float64) + self.dist = np.array([p[4], p[5], p[13], p[12], p[6], p[7], p[8], p[9]], np.float64) + v, u = np.mgrid[:512, :512] + self.pixels = np.stack([u, v], -1).astype(np.float64) + dirs = cv2.undistortPointsIter(self.pixels.reshape(-1, 1, 2), self.Kd, self.dist, + None, None, (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 30, 1e-12)).reshape(512, 512, 2) + self.dirs = np.concatenate([dirs, np.ones((512, 512, 1))], -1) + self.R = np.asarray(col["Rt"]["Rotation"], np.float64).reshape(3, 3) + self.t = np.asarray(col["Rt"]["Translation"], np.float64) + self.K, self.width, self.height = K, width, height + # Independent forward distortion residual, evaluated on measured pixels. + reproj, _ = cv2.projectPoints(self.dirs.reshape(-1, 3), np.zeros(3), np.zeros(3), self.Kd, self.dist) + self.ray_residual = np.linalg.norm(reproj.reshape(512,512,2)-self.pixels, axis=-1) + + def register(self, depth): + valid = (depth > 0) & np.isfinite(self.dirs).all(-1) + pc = (self.dirs[valid] * (depth[valid, None].astype(np.float64) / 1000.0)) @ self.R.T + self.t + front = np.isfinite(pc).all(1) & (pc[:, 2] > 0) + pc = pc[front] + uv = pc[:, :2] / pc[:, 2, None] + uv[:, 0] = uv[:, 0] * self.K[0,0] + self.K[0,2] + uv[:, 1] = uv[:, 1] * self.K[1,1] + self.K[1,2] + ij = np.floor(uv).astype(np.int64) + inside = (ij[:,0]>=0)&(ij[:,0]=0)&(ij[:,1]> 16).astype("0;depth=mm.astype(np.float32)/np.float32(1000);depth[~valid]=np.nan + return depth,valid,{'sdk_registered_depth_valid_pixels':int(valid.sum())} + +def sample_indices(n): + return sorted(set([0,n-1,min(92,n-1)]+np.linspace(0,n-1,8,dtype=int).tolist())) + +def transformed_motion(row,model,R,t): + pose=np.asarray(row['full_pose'],float);beta=np.asarray(row['betas'],float);tr=np.asarray(row['transl'],float) + if pose.shape!=(48,) or beta.shape!=(10,) or tr.shape!=(3,) or not all(np.isfinite(x).all() for x in [pose,beta,tr]):raise ValueError('Invalid annotated MANO parameters') + J=(model['J_regressor']@(model['v_template']+np.einsum('vij,j->vi',model['shapedirs'][...,:10],beta)))[0] + new_pose=pose.copy();new_pose[:3]=Rotation.from_matrix(R@Rotation.from_rotvec(pose[:3]).as_matrix()).as_rotvec() + return np.r_[new_pose,beta,R@(J+tr)+t-J].astype(np.float32) + +def write_meta(view,seq,kind,n,reg,profile,rev,frames): + depthview=kind=='cam-d-depth';locator={'file':'raw/data/data/'+seq[:5]+'/'+seq+'/annotation.parquet','record_key':'frame'} + src={'rgb':locator['file'].replace('annotation.parquet','cam-d.color.parquet'),'depth':locator['file'].replace('annotation.parquet','cam-d.depth.parquet')} + ip='camera/rational8/v1' if depthview else 'camera/pinhole/v1' + valid_policy={'source_annotation_present':'Source has_annotation=true and exact frame ID join','numerical_checks':'Finite shapes and geometry checked; failure aborts','official_qa':'not available; visibility not inferred'} + intrinsic=numeric_component(ip,'camera/camera.pt','intrinsic',['T','row','column'],['T'],{'file':'raw/data/configs/'+seq[:5]+'/'+seq+('_k4a/cam-d.k4a_calibration.json' if depthview else '.json')},'Native factory depth K with SDK -0.5 pixel-center convention' if depthview else 'Original undistorted color K') + if depthview:intrinsic.update(distortion_ref='camera/camera.pt',distortion_key=['distortion','data'],distortion_valid_ref='camera/camera.pt',distortion_valid_key=['distortion','valid']) + components={ + 'rgb':dict(available=True,schema_id='rgb/uint8/v1',data_ref='observation/rgb.mkv',valid_ref='observation/rgb_valid.pt',axes=['T','H','W','C'],valid_axes=['T'],storage=describe_video(view/'observation/rgb.mkv','mkv/ffv1_rgb/v1' if depthview else 'mkv/mjpeg_copy/v1',True,not depthview),provenance={'kind':'derived' if depthview else 'format_conversion','method':'Official k4a_transformation_color_image_to_depth_camera; SDK BGRA converted to RGB; alpha defines sampling support; SDK C2D does NOT resolve occlusions. FFV1 preserves SDK output exactly.' if depthview else 'Original JPEG packets copied, no resize/crop/re-encoding'},source_locator={'file':src['rgb'],'record_key':'frame'}), + 'depth':dict(available=True,schema_id='depth/z_float32/v1',data_ref='observation/depth.mkv',valid_ref='observation/depth_valid.mkv',axes=['T','H','W'],valid_axes=['T','H','W'],depth_type='z',depth_origin='measured',unit='m',storage=describe_video(view/'observation/depth.mkv','mkv/depth_float32_bits/v1',False),valid_storage=describe_video(view/'observation/depth_valid.mkv','mkv/bool_ffv1/v1',False),provenance={'kind':'format_conversion' if depthview else 'derived','method':'Native uint16 mm -> float32 metres; zero invalid' if depthview else 'Official k4a_transformation_depth_image_to_color_camera surface rasterization; SDK uint16 millimetres normalized to float32 metres; zero invalid. No external hole filling.'},source_locator={'file':src['depth'],'record_key':'frame'}), + 'intrinsic':intrinsic, + 'extrinsic':numeric_component('transform/se3/v1','camera/camera.pt','extrinsic',['T','row','column'],['T'],locator,'inv(T_RGB_from_Depth_corrected) @ T_RGB_from_world' if depthview else 'Source ego_R/ego_T unchanged',direction='T_camera_from_world',convention='T_camera_from_world'), + 'mano':numeric_component('mano/axis_angle61/v1','annotation/mano/mano.pt','motion',['T','hand','parameter'],['T','hand'],locator,'Standard MANO, no per-vertex refinement; camera root rotation composed; additive translation compensated around shaped root joint',model_profile=profile,valid_policy=valid_policy)} + if depthview: + components['rgb']['sample_support_component']='rgb_sample_support' + components['rgb_sample_support']=dict(available=True,schema_id='egopressure/rgb_sample_support/v1',data_ref='observation/rgb_sample_support.mkv',axes=['T','H','W'],storage=describe_video(view/'observation/rgb_sample_support.mkv','mkv/bool_ffv1/v1',False),valid=True,provenance={'kind':'derived','method':'Official k4a_transformation_color_image_to_depth_camera output BGRA alpha != 0; not an occlusion visibility mask'},source_locator={'files':[src['rgb'],src['depth']]},false_semantics='RGB is zero-filled here; depth may still be valid',true_semantics='SDK returned a color sample; occlusion conflicts and mixed pixels remain possible') + meta=dict(schema_version='hand-warehouse/1.1',dataset_id='EgoPressure',release_id='shared-v1.1',sequence_id=seq,camera_id=kind,physical_camera_id='d',view_type='ego',sample_type='video',num_frames=n,hand_slots=['left','right'],sampling={'type':'dense','source_fps':30,'frames_ref':'camera/frames.jsonl','policy':'Every source frame, exact frame-ID joins, no true timestamps available; presentation 30Hz only'},camera={'model':'rational8' if depthview else 'pinhole','schema_id':ip,'image_size':[512,512] if depthview else [reg.width,reg.height]},components=components,split='unknown',split_reason='Official split not provided in selected source',source_revision=SOURCE,pilot={'adapter':ADAPTER,'contract_repo_revision':rev,'scope':'four complete sequences, two views each; local experiment awaiting review','local_schema_extension':'egopressure/rgb_sample_support/v1; not an upstream standardized RGB pixel-valid field'},calibration={'baseline':'config DepthToColor','offset_rgb_optical_z_mm':OFFSET,'offset_estimation':'100-sequence participant-balanced pad fit','T_rgb_from_depth_rotation':reg.R.tolist(),'T_rgb_from_depth_translation_m':reg.t.tolist(),'status':'user-authorized local experimental correction; not an official recalibration'},pairing={'original_rgb_view':'cam-d-rgb','native_depth_view':'cam-d-depth','rule':'Same source_frame_id and sync_id; depth view retains native lens distortion','consumer_rule':'For RGB-D use depth.valid AND rgb_sample_support in depth view; RGB frame valid does not imply every pixel available'}) + meta['registration_sdk']=reg.sdk.provenance() + meta['components']['depth']['provenance']={'kind':'format_conversion' if depthview else 'derived','method':'Native uint16 mm -> float32 metres; zero invalid' if depthview else 'Official k4a_transformation_depth_image_to_color_camera surface rasterization; SDK uint16 millimetres normalized to float32 metres; zero invalid. No external hole filling.'} + meta['pilot']['adapter']=ADAPTER + meta['pairing']['consumer_rule']='For depth-grid RGB-D use depth.valid AND rgb_sample_support (SDK alpha); this does not imply true color visibility.' + if depthview:meta['components']['intrinsic']['source_locator']={'file':'raw/data/configs/'+seq[:5]+'/'+seq+'_k4a/cam-d.k4a_calibration.json','method':'k4a_calibration_get_from_raw: WFOV_2X2BINNED'} + write_json(view/'metainfo.json',meta) + +def build(seq,root,models,mano_fn,profile,rev): + if (root/'data'/seq).exists(): + raise FileExistsError('Sequence output already exists. Use a new --out directory; existing media may be immutable hard links.') + receipt=root/'doc/validation'/(seq+'.json') + if receipt.exists(): + old=json.loads(receipt.read_text());assert old['adapter']==ADAPTER and old['status']=='passed';return old + src=RAW/'data'/seq[:5]/seq;cp=RAW/'configs'/seq[:5]/(seq+'.json');fp=RAW/'configs'/seq[:5]/(seq+'_k4a')/'cam-d.k4a_calibration.json' + paths=[src/x for x in ['cam-d.color.parquet','cam-d.depth.parquet','annotation.parquet']]+[cp,fp] + before={str(p):[p.stat().st_size,p.stat().st_mtime_ns] for p in paths} + cal=json.loads(cp.read_text())['camera_calibrations']['0'];reg=make_reg(json.loads(fp.read_text()),cal) + color=source_rows(paths[0]);depth=source_rows(paths[1]);ann=source_rows(paths[2]);ids=sorted(color);assert set(ids)==set(depth)==set(ann) + n=len(ids);sample=set(sample_indices(n));side=seq.rsplit('_',1)[1];slot=['left','right'].index(side);model=models[side] + views={k:root/'data'/seq/k for k in ['cam-d-rgb']} + tensors={};writers={};expected={k:[] for k in views};framerows=[];stats=[];errors=[];start=time.monotonic() + decoder=av.CodecContext.create('mjpeg','r');first=decoder.decode(av.Packet(encoded_bytes(color[ids[0]]['image'])))[0] + for kind,view in views.items(): + for sub in ['observation','camera','annotation/mano']:(view/sub).mkdir(parents=True,exist_ok=True) + tensors[kind]={'motion':np.full((n,2,61),np.nan,np.float32),'mano_valid':np.zeros((n,2),bool),'extrinsic':np.tile(np.eye(4,dtype=np.float32),(n,1,1)),'rgb_valid':np.ones(n,bool)} + w,h=(512,512) if kind=='cam-d-depth' else (reg.width,reg.height) + writers[kind]={'depth':VideoWriter(view/'observation/depth.mkv',2*w,h,'gray16le'),'valid':VideoWriter(view/'observation/depth_valid.mkv',w,h,'gray')} + color_container=av.open(str(views['cam-d-rgb']/'observation/rgb.mkv'),'w');stream=color_container.add_stream('mjpeg',rate=30);stream.width=reg.width;stream.height=reg.height;stream.pix_fmt=first.format.name + invdc=np.linalg.inv(reg.R) + for i,fid in enumerate(ids): + row=ann[fid];assert row['hand_side']==side + Rc=np.asarray(row['ego_R']).reshape(3,3);tc=np.asarray(row['ego_T']);Rd=invdc@Rc;td=invdc@(tc-reg.t) + if not np.isfinite(Rc).all() or not np.isfinite(tc).all() or np.max(np.abs(Rc@Rc.T-np.eye(3)))>1e-5:raise ValueError('Invalid source ego pose') + for kind,R,t in [('cam-d-rgb',Rc,tc)]: + out=tensors[kind];out['extrinsic'][i,:3,:3]=R;out['extrinsic'][i,:3,3]=t + if row['has_annotation']: + m=transformed_motion(row,model,R,t);out['motion'][i,slot]=m;out['mano_valid'][i,slot]=True + if i in sample: + original=mano_fn(model,row['betas'],row['full_pose'],row['transl']);rebuilt=mano_fn(model,m[48:58],m[:48],m[58:]);errors.append(float(np.linalg.norm(rebuilt-(original@R.T+t),axis=1).max()*1000)) + jpeg=encoded_bytes(color[fid]['image']);rgb=decode_rgb(decoder,jpeg) if i in sample else None;sensor=decode_depth(depth[fid]) + cd,cv,st=align_depth(sensor,reg);stats.append(st) + packet=av.Packet(jpeg);packet.pts=packet.dts=i;packet.time_base=Fraction(1,30);packet.stream=stream;color_container.mux(packet) + for kind,d,v,rgb_image in [('cam-d-rgb',cd,cv,rgb)]: + writers[kind]['depth'].write(pack_depth(d),i);writers[kind]['valid'].write(v.astype(np.uint8),i) + if i in sample: + expected[kind].append({'frame_index':i,'source_frame_id':fid,'rgb_decoded_sha256':digest(rgb_image),'depth_float32_sha256':digest(d),'depth_valid_sha256':digest(v.astype(np.uint8)),'jpeg_packet_sha256':hashlib.sha256(jpeg).hexdigest()}) + framerows.append({'frame_index':i,'source_frame_id':fid,'timestamp_ns':None,'clock_domain':'unknown','sync_id':seq+':'+str(fid),'source_locator':{'file':'raw/data/data/'+seq[:5]+'/'+seq+'/cam-d.color.parquet','frame':fid},'annotation_matches':{k:{'source_frame_id':fid,'source_timestamp_ns':None,'clock_domain':'unknown','match_method':'exact','delta_ns':None} for k in ['depth','mano','extrinsic']}}) + if i%64==0: + log(seq,'encoded',i+1,'/',n);write_json(STATUS,{'phase':'encoding','sequence':seq,'frame':i+1,'frames':n,'out':str(root),'pid':os.getpid()}) + color_container.close() + for ww in writers.values(): + for w in ww.values():w.close() + for kind,view in views.items(): + a=tensors[kind];K=reg.Kd if kind=='cam-d-depth' else reg.K + camera={'intrinsic':bundle(np.tile(K.astype(np.float32),(n,1,1)),np.ones(n,bool)),'extrinsic':bundle(a['extrinsic'],np.ones(n,bool))} + if kind=='cam-d-depth':camera['distortion']=bundle(np.tile(reg.dist.astype(np.float32),(n,1)),np.ones(n,bool)) + objects={'camera/camera.pt':camera,'annotation/mano/mano.pt':{'motion':bundle(a['motion'],a['mano_valid'])}} + for rel,obj in objects.items(): + torch.save(obj,view/rel);actual=torch.load(view/rel,map_location='cpu',weights_only=True) + for key in obj: + for leaf in ['data','valid']:assert torch.equal(actual[key][leaf].contiguous().view(torch.uint8),obj[key][leaf].contiguous().view(torch.uint8)) + torch.save(torch.from_numpy(a['rgb_valid']),view/'observation/rgb_valid.pt') + (view/'camera/frames.jsonl').write_text(''.join(json.dumps(x)+'\n' for x in framerows),encoding='utf-8') + write_meta(view,seq,kind,n,reg,profile,rev,framerows) + simplify_meta(view) + write_json(root/'doc/media_hashes'/(seq+'__'+kind+'.json'),expected[kind]) + assert max(errors,default=0.0)<.01,('Camera MANO transform error mm',max(errors,default=0.0)) + observed=(sensor>0);raymax=float(reg.ray_residual[observed].max());assert raymax<.05 + after={str(p):[p.stat().st_size,p.stat().st_mtime_ns] for p in paths};assert before==after + result={'adapter':ADAPTER,'status':'encoded_pending_independent_validation','sequence':seq,'frames':n,'annotated_frames':int(tensors['cam-d-rgb']['mano_valid'].sum()),'missing_annotation_frames':int(n-tensors['cam-d-rgb']['mano_valid'].sum()),'offset_mm':OFFSET,'contract_revision':rev,'sampled_annotated_geometry_frames':len(errors),'max_standard_MANO_camera_transform_error_mm':max(errors) if errors else None,'depth_inverse_distortion_max_pixel_error':raymax,'mean_registered_depth_valid_fraction':float(np.mean([x['sdk_registered_depth_valid_pixels']/(reg.width*reg.height) for x in stats])),'official_sdk':reg.sdk.provenance(),'frame_sampling_stats':stats,'encode_seconds':time.monotonic()-start,'source_files_unchanged':True,'views':{k:str(v) for k,v in views.items()}} + write_json(root/'doc/encoded'/(seq+'.json'),result);reg.sdk.close();return result + +def simplify_meta(view): + p=view/'metainfo.json';m=json.loads(p.read_text());m.pop('pairing',None) + m['pilot']={'adapter':ADAPTER,'contract_repo_revision':m['pilot']['contract_repo_revision'],'scope':'four complete sequences; only original RGB plus SDK depth-to-RGB','validation_policy':'All frame IDs, tensor validity and packet counts; deterministic representative decode checks, not full decode or SDK replay'} + m['registration_sdk']['interfaces']=[x for x in m['registration_sdk']['interfaces'] if x!='k4a_transformation_color_image_to_depth_camera'];m['registration_sdk'].pop('rgb_support',None) + write_json(p,m) + diff --git a/EgoPressure/shared-v1.1/script/egopressure_pilot_v4_validate.py b/EgoPressure/shared-v1.1/script/egopressure_pilot_v4_validate.py new file mode 100644 index 0000000000000000000000000000000000000000..36b372df36d3133b076b9737ac74a9e0dd5c627f --- /dev/null +++ b/EgoPressure/shared-v1.1/script/egopressure_pilot_v4_validate.py @@ -0,0 +1,42 @@ +"""Fast structural checks plus deterministic seek/decode samples; not full media QA.""" +from pathlib import Path +import sys,json,time,argparse +import numpy as np +from egopressure_pilot_v3_reader import Reader,av,torch,read_depth,digest +ROOT=Path(__file__).resolve().parent.parent +def samples(n):return sorted(set([0,n-1,min(92,n-1)]+np.linspace(0,n-1,8,dtype=int).tolist())) +def get_frame(path,index): + with av.open(str(path)) as c: + s=c.streams.video[0];target=int(round(index/30/float(s.time_base)));c.seek(target,stream=s,backward=True,any_frame=False) + for f in c.decode(s): + i=int(round(float(f.pts*f.time_base)*30)) + if i==index:return f + if i>index:raise ValueError('Seek skipped requested frame') + raise ValueError('Missing sampled frame') +def validate(root): + start=time.monotonic();results=[] + for view in sorted((root/'data').glob('*/*')): + assert view.name=='cam-d-rgb';r=Reader(view);n=r.meta['num_frames'];seq=r.meta['sequence_id'];rows=[json.loads(x) for x in (view/'camera/frames.jsonl').read_text().splitlines()] + assert len(rows)==n and [x['frame_index'] for x in rows]==list(range(n));assert len(set(x['source_frame_id'] for x in rows))==n + for name in ['mano','intrinsic','extrinsic']: + d=r.tensor(name);v=r.tensor(name,'valid');assert len(d)==len(v)==n and v.dtype==torch.bool and d.dtype==torch.float32 + mask=v + while mask.ndim