tools/taco_analysis/profile_loading.py

#!/usr/bin/env python3
"""Profile TACO dataset loading performance.

Measures:
  1. Single-sample loading time at different resolutions
  2. Batch loading throughput with varying num_workers
  3. Per-component timing breakdown for a single sample
"""

import sys
import time
from pathlib import Path

# ---------------------------------------------------------------------------
# Setup paths so we can import from the parent taco_dataset directory
# ---------------------------------------------------------------------------
SCRIPT_DIR = Path(__file__).resolve().parent
DATASET_DIR = SCRIPT_DIR.parent.parent  # taco_dataset_resized/
sys.path.insert(0, str(DATASET_DIR))

import numpy as np
import torch
from torch.utils.data import DataLoader

import decord

decord.bridge.set_bridge("torch")

from taco_dataset_loader import TACODataset
from view_sampler import RandomViewSampler

# ---------------------------------------------------------------------------
# Configuration
# ---------------------------------------------------------------------------
CSV_PATH = DATASET_DIR / "taco_info.csv"
ROOT_DIR = DATASET_DIR
SEED = 42
N_CONTEXT = 4
N_TARGET = 2
N_PAST = 3
N_FUTURE = 1

# Resolutions to test: (H, W) or None for native
RESOLUTIONS = {
    "native (no resize)": None,
    "376x512 (target)": (376, 512),
    "360x640 (common)": (360, 640),
}

BATCH_THROUGHPUT_RESOLUTION = (376, 512)
BATCH_SAMPLES = 20
WORKER_COUNTS = [0, 1, 2, 4]


def fmt_time(seconds: float) -> str:
    """Format a time duration nicely."""
    if seconds < 0.001:
        return f"{seconds * 1e6:.0f} us"
    if seconds < 1.0:
        return f"{seconds * 1e3:.1f} ms"
    return f"{seconds:.2f} s"


def fmt_rate(samples: int, seconds: float) -> str:
    """Format throughput."""
    if seconds == 0:
        return "inf"
    return f"{samples / seconds:.2f}"


# ===================================================================
# 1. Single-sample loading time at different resolutions
# ===================================================================
def profile_single_sample():
    print("=" * 72)
    print("1. SINGLE-SAMPLE LOADING TIME (different resolutions)")
    print("=" * 72)
    print()

    results = []

    for label, resolution in RESOLUTIONS.items():
        if resolution is None:
            # Native resolution: load a single camera to avoid torch.stack
            # error from mixed resolutions (2048x1500 vs 4096x3000).
            ds = TACODataset(
                csv_path=CSV_PATH,
                root_dir=ROOT_DIR,
                view_sampler=RandomViewSampler(),
                n_context_views=N_CONTEXT,
                n_target_views=N_TARGET,
                n_past=N_PAST,
                n_future=N_FUTURE,
                resolution=None,
                seed=SEED,
            )
            # Use load_sequence_views but only decode one camera manually
            row = ds.meta.iloc[0]
            cam_ids = row["camera_ids"].split(";")
            mr_dir = row.get("marker_removed_dir", "")
            frame_indices = [0, 1, 2, 3]  # n_past + n_future = 4

            # Profile loading a single camera at native resolution
            cam_id = cam_ids[0]
            video_path = ROOT_DIR / mr_dir / f"{cam_id}.mp4"

            # Warmup
            vr = decord.VideoReader(str(video_path), ctx=decord.cpu(0))
            _ = vr.get_batch(frame_indices)

            times = []
            for _ in range(3):
                t0 = time.perf_counter()
                vr = decord.VideoReader(str(video_path), ctx=decord.cpu(0))
                frames = vr.get_batch(frame_indices)
                t1 = time.perf_counter()
                times.append(t1 - t0)

            avg = np.mean(times)
            shape = frames.shape
            results.append((label, f"1 cam, {shape[1]}x{shape[2]}", avg, np.std(times)))

            # Also profile the higher-res camera
            cam_id_hi = cam_ids[1]
            video_path_hi = ROOT_DIR / mr_dir / f"{cam_id_hi}.mp4"
            vr_hi = decord.VideoReader(str(video_path_hi), ctx=decord.cpu(0))
            _ = vr_hi.get_batch(frame_indices)

            times_hi = []
            for _ in range(3):
                t0 = time.perf_counter()
                vr_hi = decord.VideoReader(str(video_path_hi), ctx=decord.cpu(0))
                frames_hi = vr_hi.get_batch(frame_indices)
                t1 = time.perf_counter()
                times_hi.append(t1 - t0)

            avg_hi = np.mean(times_hi)
            shape_hi = frames_hi.shape
            results.append(
                (f"native (high-res cam)", f"1 cam, {shape_hi[1]}x{shape_hi[2]}", avg_hi, np.std(times_hi))
            )

        else:
            ds = TACODataset(
                csv_path=CSV_PATH,
                root_dir=ROOT_DIR,
                view_sampler=RandomViewSampler(),
                n_context_views=N_CONTEXT,
                n_target_views=N_TARGET,
                n_past=N_PAST,
                n_future=N_FUTURE,
                resolution=resolution,
                seed=SEED,
            )

            # Warmup
            _ = ds[0]

            times = []
            for _ in range(3):
                t0 = time.perf_counter()
                sample = ds[0]
                t1 = time.perf_counter()
                times.append(t1 - t0)

            avg = np.mean(times)
            ctx_shape = sample["context_rgb"].shape
            results.append(
                (label, f"{N_CONTEXT}+{N_TARGET} cams, {ctx_shape[2]}x{ctx_shape[3]}", avg, np.std(times))
            )

    # Print table
    print(f"{'Resolution':<25} {'Config':<30} {'Mean Time':>12} {'Std':>10}")
    print("-" * 77)
    for label, config, mean_t, std_t in results:
        print(f"{label:<25} {config:<30} {fmt_time(mean_t):>12} {fmt_time(std_t):>10}")
    print()


# ===================================================================
# 2. Batch loading throughput
# ===================================================================
def profile_batch_throughput():
    print("=" * 72)
    print(f"2. BATCH LOADING THROUGHPUT (resolution={BATCH_THROUGHPUT_RESOLUTION}, "
          f"{BATCH_SAMPLES} samples)")
    print("=" * 72)
    print()

    results = []

    for nw in WORKER_COUNTS:
        ds = TACODataset(
            csv_path=CSV_PATH,
            root_dir=ROOT_DIR,
            view_sampler=RandomViewSampler(),
            n_context_views=N_CONTEXT,
            n_target_views=N_TARGET,
            n_past=N_PAST,
            n_future=N_FUTURE,
            resolution=BATCH_THROUGHPUT_RESOLUTION,
            seed=SEED,
        )

        loader = DataLoader(
            ds,
            batch_size=1,
            shuffle=False,
            num_workers=nw,
            pin_memory=False,
            # For num_workers>0, each worker needs its own decord reader
            persistent_workers=(nw > 0),
        )

        # Warmup (1 sample)
        it = iter(loader)
        _ = next(it)

        # Time loading BATCH_SAMPLES samples
        t0 = time.perf_counter()
        count = 0
        for batch in loader:
            count += 1
            if count >= BATCH_SAMPLES:
                break
        t1 = time.perf_counter()

        elapsed = t1 - t0
        rate = count / elapsed
        results.append((nw, count, elapsed, rate))

        # Clean up workers
        del loader

    print(f"{'num_workers':>12} {'Samples':>10} {'Wall Time':>12} {'Samples/sec':>14}")
    print("-" * 52)
    for nw, count, elapsed, rate in results:
        print(f"{nw:>12} {count:>10} {fmt_time(elapsed):>12} {fmt_rate(count, elapsed):>14}")
    print()


# ===================================================================
# 3. Per-component timing breakdown
# ===================================================================
def profile_component_breakdown():
    print("=" * 72)
    print("3. PER-COMPONENT TIMING BREAKDOWN (single sample)")
    print("=" * 72)
    print()

    row_ds = TACODataset(
        csv_path=CSV_PATH,
        root_dir=ROOT_DIR,
        view_sampler=RandomViewSampler(),
        n_context_views=N_CONTEXT,
        n_target_views=N_TARGET,
        n_past=N_PAST,
        n_future=N_FUTURE,
        resolution=(376, 512),
        load_segmentation=True,
        seed=SEED,
    )

    # Get the first sequence's data
    row = row_ds.meta.iloc[0]
    cam_ids = row["camera_ids"].split(";")
    mr_dir = row.get("marker_removed_dir", "")
    seg_dir = row.get("segmentation_dir", "")
    calib_path = row.get("alloc_camera_params_path", "")
    frame_indices = [0, 1, 2, 3]
    resolution = (376, 512)

    # Select cameras
    rng = np.random.default_rng(SEED)
    chosen = rng.choice(len(cam_ids), size=N_CONTEXT + N_TARGET, replace=False)
    selected_cams = [cam_ids[i] for i in chosen]
    ctx_cams = selected_cams[:N_CONTEXT]
    tgt_cams = selected_cams[N_CONTEXT:]
    all_cams = ctx_cams + tgt_cams

    # --- A. Video decode (no resize) ---
    # Warmup
    for cam_id in all_cams[:1]:
        vp = ROOT_DIR / mr_dir / f"{cam_id}.mp4"
        vr = decord.VideoReader(str(vp), ctx=decord.cpu(0))
        _ = vr.get_batch(frame_indices)

    decode_times = []
    for trial in range(3):
        t0 = time.perf_counter()
        for cam_id in all_cams:
            vp = ROOT_DIR / mr_dir / f"{cam_id}.mp4"
            vr = decord.VideoReader(str(vp), ctx=decord.cpu(0))
            frames = vr.get_batch(frame_indices)
        t1 = time.perf_counter()
        decode_times.append(t1 - t0)
    avg_decode = np.mean(decode_times)

    # --- B. Resize frames ---
    # Get a representative frame batch for resizing
    vp = ROOT_DIR / mr_dir / f"{all_cams[0]}.mp4"
    vr = decord.VideoReader(str(vp), ctx=decord.cpu(0))
    sample_frames = vr.get_batch(frame_indices)  # (T, H, W, 3)

    resize_times = []
    for trial in range(5):
        t0 = time.perf_counter()
        # Simulate resizing for all cameras
        for _ in all_cams:
            h, w = resolution
            x = sample_frames.permute(0, 3, 1, 2).float()
            x = torch.nn.functional.interpolate(x, size=(h, w), mode="bilinear", align_corners=False)
            _ = x.permute(0, 2, 3, 1).to(torch.uint8)
        t1 = time.perf_counter()
        resize_times.append(t1 - t0)
    avg_resize = np.mean(resize_times)

    # --- C. Camera parameters ---
    import json

    calib_full_path = ROOT_DIR / calib_path

    # Warmup
    with open(calib_full_path) as f:
        _ = json.load(f)

    calib_times = []
    for trial in range(10):
        t0 = time.perf_counter()
        with open(calib_full_path) as f:
            calib = json.load(f)
        for cam_id in all_cams:
            cam_data = calib.get(cam_id, {})
            K = np.array(cam_data.get("K", np.eye(3).flatten().tolist()), dtype=np.float32).reshape(3, 3)
            R = np.array(cam_data.get("R", np.eye(3).flatten().tolist()), dtype=np.float32).reshape(3, 3)
            T = np.array(cam_data.get("T", [0, 0, 0]), dtype=np.float32).reshape(3, 1)
            _ = torch.from_numpy(K)
            _ = torch.from_numpy(np.concatenate([R, T], axis=1))
        t1 = time.perf_counter()
        calib_times.append(t1 - t0)
    avg_calib = np.mean(calib_times)

    # --- D. Segmentation masks ---
    seg_times = []
    seg_indices = [round(f / 5) for f in frame_indices]

    # Warmup
    for cam_id in ctx_cams[:1]:
        mask_path = ROOT_DIR / seg_dir / f"{cam_id}_masks.npy"
        if mask_path.exists():
            masks = np.load(str(mask_path), mmap_mode="r")
            _ = masks[seg_indices].copy()

    for trial in range(3):
        t0 = time.perf_counter()
        for cam_id in ctx_cams:
            mask_path = ROOT_DIR / seg_dir / f"{cam_id}_masks.npy"
            if mask_path.exists():
                masks = np.load(str(mask_path), mmap_mode="r")
                valid_seg = [min(idx, len(masks) - 1) for idx in seg_indices]
                selected = masks[valid_seg]
                _ = torch.from_numpy(selected.copy())
        t1 = time.perf_counter()
        seg_times.append(t1 - t0)
    avg_seg = np.mean(seg_times) if seg_times else 0.0

    # --- E. Full __getitem__ call (with resize) ---
    # Warmup
    _ = row_ds[0]

    getitem_times = []
    for trial in range(3):
        t0 = time.perf_counter()
        _ = row_ds[0]
        t1 = time.perf_counter()
        getitem_times.append(t1 - t0)
    avg_getitem = np.mean(getitem_times)

    # Print table
    total_breakdown = avg_decode + avg_resize + avg_calib + avg_seg

    components = [
        ("Video decode (decord)", avg_decode, f"{len(all_cams)} cameras x {len(frame_indices)} frames"),
        ("Frame resize (bilinear)", avg_resize, f"{len(all_cams)} cameras to {resolution[0]}x{resolution[1]}"),
        ("Camera params (JSON)", avg_calib, f"{len(all_cams)} cameras"),
        ("Segmentation masks (npy)", avg_seg, f"{len(ctx_cams)} ctx cameras"),
        ("---", 0, ""),
        ("Sum of components", total_breakdown, ""),
        ("Actual __getitem__", avg_getitem, "with resize + segmentation"),
    ]

    print(f"{'Component':<30} {'Time':>12} {'% of Total':>12} {'Details':<35}")
    print("-" * 92)
    for name, t, details in components:
        if name == "---":
            print("-" * 92)
            continue
        pct = (t / avg_getitem * 100) if avg_getitem > 0 else 0
        print(f"{name:<30} {fmt_time(t):>12} {pct:>10.1f}%  {details:<35}")
    print()
    print("  NOTE: Component times are measured independently. The sum may")
    print("  exceed __getitem__ due to different memory/cache conditions in")
    print("  isolated benchmarks vs the integrated pipeline. The key takeaway")
    print("  is the *relative* cost: video decode dominates by far.")
    print()


# ===================================================================
# 4. Summary of dataset stats
# ===================================================================
def print_dataset_stats():
    print("=" * 72)
    print("4. DATASET OVERVIEW")
    print("=" * 72)
    print()

    ds = TACODataset(
        csv_path=CSV_PATH,
        root_dir=ROOT_DIR,
        view_sampler=RandomViewSampler(),
        n_context_views=N_CONTEXT,
        n_target_views=N_TARGET,
        n_past=N_PAST,
        n_future=N_FUTURE,
        resolution=(376, 512),
        seed=SEED,
    )

    print(f"  Dataset repr: {ds}")
    print(f"  Total samples (snippets): {len(ds)}")
    print(f"  Number of sequences: {ds.num_sequences}")
    print()

    # Check native resolution of first sequence
    row = ds.meta.iloc[0]
    cam_ids = row["camera_ids"].split(";")
    mr_dir = row.get("marker_removed_dir", "")

    print("  Native camera resolutions (1st sequence):")
    resolutions_seen = {}
    for cam_id in cam_ids:
        vp = ROOT_DIR / mr_dir / f"{cam_id}.mp4"
        if vp.exists():
            vr = decord.VideoReader(str(vp), ctx=decord.cpu(0))
            shape = vr[0].shape
            key = f"{shape[1]}x{shape[0]}"
            resolutions_seen.setdefault(key, []).append(cam_id)

    for res, cams in resolutions_seen.items():
        print(f"    {res}: {len(cams)} cameras")
    print()


# ===================================================================
# Main
# ===================================================================
def main():
    print()
    print("*" * 72)
    print("  TACO Dataset Loading Profiler")
    print(f"  Dataset: {ROOT_DIR}")
    print(f"  CSV: {CSV_PATH}")
    print(f"  Python: {sys.executable}")
    print(f"  PyTorch: {torch.__version__}")
    print("*" * 72)
    print()

    print_dataset_stats()
    profile_single_sample()
    profile_batch_throughput()
    profile_component_breakdown()

    print("=" * 72)
    print("Done.")
    print("=" * 72)


if __name__ == "__main__":
    main()