| |
| """Bounded torchcodec scan for canonical RECAP MP4 files. |
| |
| The official LeRobot path uses torchcodec with approximate seeking. This |
| utility exercises that same decoder on every frame (in small batches) and |
| prints only files that raise an exception; it never writes to the dataset. |
| """ |
|
|
| from __future__ import annotations |
|
|
| import argparse |
| from concurrent.futures import ThreadPoolExecutor, as_completed |
| from pathlib import Path |
|
|
|
|
| def parse_args() -> argparse.Namespace: |
| parser = argparse.ArgumentParser() |
| parser.add_argument("--data-root", type=Path, default=Path("datasets/recap_libero10_task0")) |
| parser.add_argument("--split", default="libero10_task0_train") |
| parser.add_argument("--workers", type=int, default=16) |
| parser.add_argument("--chunk-size", type=int, default=32) |
| parser.add_argument("--max-files", type=int, default=None) |
| return parser.parse_args() |
|
|
|
|
| def scan_one(path: Path, chunk_size: int) -> str | None: |
| try: |
| from torchcodec.decoders import VideoDecoder |
|
|
| decoder = VideoDecoder(path, device="cpu", seek_mode="approximate") |
| frame_count = len(decoder) |
| if frame_count <= 0: |
| return f"{path}\tno_frames" |
| for start in range(0, frame_count, chunk_size): |
| decoder.get_frames_at(indices=list(range(start, min(start + chunk_size, frame_count)))) |
| return None |
| except Exception as exc: |
| return f"{path}\t{type(exc).__name__}: {exc}" |
|
|
|
|
| def main() -> int: |
| args = parse_args() |
| if args.workers < 1 or args.chunk_size < 1: |
| raise ValueError("workers and chunk-size must be positive") |
| split_path = args.data_root.resolve() / args.split / "videos" |
| files = sorted(split_path.glob("**/*.mp4")) |
| if args.max_files is not None: |
| files = files[: args.max_files] |
| print(f"SCAN_START\tfiles={len(files)}\tworkers={args.workers}\tchunk_size={args.chunk_size}", flush=True) |
| failures: list[str] = [] |
| completed = 0 |
| with ThreadPoolExecutor(max_workers=args.workers) as executor: |
| futures = [executor.submit(scan_one, path, args.chunk_size) for path in files] |
| for future in as_completed(futures): |
| completed += 1 |
| result = future.result() |
| if result is not None: |
| failures.append(result) |
| print(f"DECODE_FAILURE\t{result}", flush=True) |
| if completed == 1 or completed % 100 == 0 or completed == len(files): |
| print(f"SCAN_PROGRESS\t{completed}/{len(files)}\tfailures={len(failures)}", flush=True) |
| print(f"SCAN_DONE\tfiles={len(files)}\tfailures={len(failures)}", flush=True) |
| return 1 if failures else 0 |
|
|
|
|
| if __name__ == "__main__": |
| raise SystemExit(main()) |
|
|
