Upload visualize_synced_data.py with huggingface_hub

visualize_synced_data.py

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+"""Visualize a synced HDF5 dataset (output of sync_image_low_dim.py) as per-demo MP4s.
+
+For each demo, renders selected image observations side-by-side and overlays
+selected low-dim observations as text on every frame.
+
+Example:
+  python visualize_synced_data.py synced.h5 --out-dir ./vis --fps 10 \
+      --image-keys agentview_image oak_image \
+      --overlay-keys robot0_eef_pos robot0_gripper_qpos
+"""
+
+import argparse
+import os
+
+import cv2
+import h5py
+import numpy as np
+
+
+def format_value(v) -> str:
+    arr = np.asarray(v).reshape(-1)
+    if arr.size == 1:
+        return f"{float(arr[0]):.3f}"
+    return "[" + ", ".join(f"{float(x):.3f}" for x in arr) + "]"
+
+
+def visualize_demo(
+    demo_grp: h5py.Group,
+    demo_name: str,
+    out_dir: str,
+    image_keys: list,
+    fps: int,
+    overlay_keys: list,
+    target_size=(480, 680),
+) -> None:
+    print(f"Visualizing {demo_name} ({image_keys})...")
+    obs = demo_grp["obs"]
+    present_keys = [k for k in image_keys if k in obs]
+    if not present_keys:
+        print(f"  Skipping {demo_name}: none of {image_keys} in obs.")
+        return
+    image_stacks = [obs[k][:] for k in present_keys]
+    n_frames = min(len(s) for s in image_stacks)
+    if n_frames == 0:
+        print(f"  Skipping {demo_name}: no frames.")
+        return
+
+    overlay_data = []
+    for key in overlay_keys:
+        if key not in obs:
+            print(f"  Note: overlay key '{key}' not in obs, skipping.")
+            continue
+        overlay_data.append((key, obs[key][:]))
+
+    target_h, per_w = target_size
+    total_w = per_w * len(present_keys)
+    total_h = target_h
+
+    video_path = os.path.join(out_dir, f"{demo_name}.mp4")
+    fourcc = cv2.VideoWriter_fourcc(*"mp4v")
+    writer = cv2.VideoWriter(video_path, fourcc, fps, (total_w, total_h))
+
+    for i in range(n_frames):
+        panels = []
+        for key, stack in zip(present_keys, image_stacks):
+            frame = stack[i]
+            if frame.ndim == 2:
+                frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
+            else:
+                frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
+            frame = cv2.resize(frame, (per_w, target_h))
+            cv2.putText(frame, key, (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+            panels.append(frame)
+        row = np.hstack(panels)
+
+        cv2.putText(row, f"Frame: {i}/{n_frames}", (10, target_h - 20),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 255), 2)
+
+        # Overlay low-dim values as text (top-right, stacked)
+        y = 30
+        for key, data in overlay_data:
+            val = data[i] if i < len(data) else data[-1]
+            text = f"{key}: {format_value(val)}"
+            (tw, th), _ = cv2.getTextSize(text, cv2.FONT_HERSHEY_SIMPLEX, 0.6, 2)
+            x = total_w - tw - 10
+            cv2.putText(row, text, (x, y), cv2.FONT_HERSHEY_SIMPLEX, 0.6,
+                        (0, 200, 255), 2)
+            y += th + 10
+
+        writer.write(row)
+
+    writer.release()
+    print(f"  Saved {video_path}")
+
+
+def _sort_key(name: str):
+    parts = name.split("_")
+    for p in reversed(parts):
+        if p.isdigit():
+            return (0, int(p))
+    return (1, name)
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Visualize synced HDF5 dataset as videos.")
+    parser.add_argument("file", help="Path to synced HDF5 file")
+    parser.add_argument("--out-dir", default="./vis", help="Output directory for videos")
+    parser.add_argument("--fps", type=int, default=30)
+    parser.add_argument("--image-keys", nargs="+", default=["agentview_image"],
+                        help="Image observation keys to render side-by-side")
+    parser.add_argument("--overlay-keys", nargs="*", default=[],
+                        help="Low-dim obs keys to overlay as text on each frame")
+    parser.add_argument("--target-size", type=int, nargs=2, default=[240, 680],
+                        metavar=("H", "W"))
+    args = parser.parse_args()
+
+    if not os.path.exists(args.file):
+        print(f"File not found: {args.file}")
+        return
+    os.makedirs(args.out_dir, exist_ok=True)
+
+    with h5py.File(args.file, "r") as f:
+        if "data" not in f:
+            print("Invalid file: no top-level 'data' group.")
+            return
+        demos = sorted(f["data"].keys(), key=_sort_key)
+        print(f"Found {len(demos)} demos.")
+        for demo in demos:
+            visualize_demo(
+                f["data"][demo],
+                demo,
+                args.out_dir,
+                args.image_keys,
+                args.fps,
+                args.overlay_keys,
+                tuple(args.target_size),
+            )
+    print("Done.")
+
+
+if __name__ == "__main__":
+    main()