check.py

import numpy as np
import cv2
import os
from tqdm import tqdm

def create_video_from_npy(npy_path, output_video_path, fps=30):
    data = np.load(npy_path, allow_pickle=True)
    
    if len(data) == 0:
        print("empty data!")
        return
    
    first_frame = data[0]['image_primary']
    height, width, channels = first_frame.shape

    fourcc = cv2.VideoWriter_fourcc(*'mp4v')  
    out = cv2.VideoWriter(output_video_path, fourcc, fps, (width, height))
    
    print(f"创建视频: {output_video_path}")
    print(f"视频尺寸: {width}x{height}, 帧率: {fps}fps")
    print(f"total frame number: {len(data)}")
    
    for i, frame_data in enumerate(tqdm(data, desc="处理帧")):
        image = frame_data['image_primary']
        
        if image.dtype != np.uint8:
            image = (image * 255).astype(np.uint8)
        
        if image.shape[2] == 3:
            image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
        
        out.write(image)
    
    out.release()
    print(f"视频已保存到: {output_video_path}")

def create_video_with_timestamps(npy_path, output_video_path, fps=30):
    data = np.load(npy_path, allow_pickle=True)

    if len(data) == 0:
        print("数据为空，无法创建视频")
        return

    first_frame = data[0]['image_primary']
    height, width, channels = first_frame.shape

    fourcc = cv2.VideoWriter_fourcc(*'mp4v')
    out = cv2.VideoWriter(output_video_path, fourcc, fps, (width, height))
    
    print(f"创建带时间戳的视频: {output_video_path}")
    print(f"视频尺寸: {width}x{height}, 帧率: {fps}fps")
    print(f"总帧数: {len(data)}")

    for i, frame_data in enumerate(tqdm(data, desc="处理帧")):
        print(frame_data['state'])
        # input()
        image = frame_data['image_primary']

        if image.dtype != np.uint8:
            image = (image * 255).astype(np.uint8)

        if image.shape[2] == 3:
            image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
        
        cv2.putText(image, f"Frame: {i}", (10, 30), 
                   cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)

        if 'state' in frame_data:
            state = frame_data['state']
            cv2.putText(image, f"Pos: {state[:3]}", (10, 70), 
                       cv2.FONT_HERSHEY_SIMPLEX, 0.2, (0, 255, 0), 2)

        out.write(image)

    out.release()
    print(f"带时间戳的视频已保存到: {output_video_path}")

def batch_create_videos(npy_directory, output_directory, fps=30, with_timestamps=False):
    os.makedirs(output_directory, exist_ok=True)
    
    npy_files = [f for f in os.listdir(npy_directory) if f.endswith('.npy')]
    
    print(f"找到 {len(npy_files)} 个.npy文件")

    for npy_file in npy_files:
        npy_path = os.path.join(npy_directory, npy_file)
        video_name = os.path.splitext(npy_file)[0] + '.mp4'
        output_path = os.path.join(output_directory, video_name)
        
        print(f"\n处理文件: {npy_file}")
        
        if with_timestamps:
            create_video_with_timestamps(npy_path, output_path, fps)
        else:
            create_video_from_npy(npy_path, output_path, fps)

if __name__ == "__main__":
    npy_path = "/media/liuzhuoyang/data/libero/npy/libero_spatial_no_noops/episode_1.npy"
    output_path = "/media/liuzhuoyang/data/libero/videos/0829_132753.mp4"

    data = np.load(npy_path,allow_pickle=True)
    print(data[0].keys())
    print(data[0]['image_primary'].shape)
    print(data[0]['image_wrist'].shape)
    exit(0)

    os.makedirs(os.path.dirname(output_path), exist_ok=True)
    create_video_from_npy(npy_path, output_path)
    timestamp_output_path = "/media/liuzhuoyang/data/libero/videos/0829_132753_timestamp.mp4"
    create_video_with_timestamps(npy_path, timestamp_output_path)