File size: 3,178 Bytes
e37c13d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | """Two-pass GelSight processing: reference selection, then scalars + encode.
Pass 1 finds the no-contact (p01) reference frame; pass 2 computes the contact
metrics against it, flags genuinely-new frames, and streams the video out.
Frames are read from HDF5 in blocks so memory stays bounded regardless of
episode length.
Both passes read through the ``TactileAlignment`` index map, so a timestamped
recording is resampled onto the camera clock here — not patched up later.
"""
from __future__ import annotations
from dataclasses import dataclass
from pathlib import Path
import numpy as np
from .config import CHUNK, P01_SMOOTH_WIN
from .contact import (NewFrameTracker, contact_metrics, duplication_stats,
l2_diff, pick_p01_reference)
from .encode import rgb_writer
from .h5io import TactileAlignment
@dataclass
class TactileResult:
side: str
intensity: np.ndarray
area: np.ndarray
mixed: np.ndarray
is_new: np.ndarray
ref_index: int # index into the source H5 dataset
stats: dict
def _gather(ds, indices: np.ndarray) -> np.ndarray:
"""Read `indices` (non-decreasing) from an H5 dataset in one contiguous slice."""
lo, hi = int(indices[0]), int(indices[-1])
span = ds[lo:hi + 1]
return span[indices - lo]
def _blocks(total: int, size: int = CHUNK):
for s in range(0, total, size):
yield s, min(s + size, total)
def process_side(h5file, side: str, align: TactileAlignment, out_path: Path,
encode: bool = True) -> TactileResult:
"""Run both passes for one GelSight and write its MP4."""
ds = h5file[f"gelsight/{side}/frames"] # (N, H, W, 3) uint8 RGB
idx_map = align.index_map
T = len(idx_map)
# ── pass 1: intensity vs the first frame -> smoothed argmin = p01 ────────
ref0 = ds[0].astype(np.float32)
rough = np.empty(T, np.float32)
for s, e in _blocks(T):
rough[s:e] = l2_diff(_gather(ds, idx_map[s:e]), ref0).mean(axis=(1, 2))
p01_local = pick_p01_reference(rough, P01_SMOOTH_WIN)
ref_index = int(idx_map[p01_local])
reference = ds[ref_index]
# ── pass 2: metrics against p01 + new-frame flags + encode ──────────────
intensity = np.empty(T, np.float32)
area = np.empty(T, np.float32)
mixed = np.empty(T, np.float32)
is_new = np.empty(T, bool)
tracker = NewFrameTracker()
writer = rgb_writer(out_path) if encode else None
ctx = writer if writer is not None else _NullCtx()
with ctx:
for s, e in _blocks(T):
block = _gather(ds, idx_map[s:e]) # uint8 RGB
i, a, m = contact_metrics(block, reference)
intensity[s:e], area[s:e], mixed[s:e] = i, a, m
is_new[s:e] = tracker.update(block)
if writer is not None:
writer.write(block[..., ::-1]) # RGB -> BGR
return TactileResult(side, intensity, area, mixed, is_new, ref_index,
duplication_stats(is_new))
class _NullCtx:
def __enter__(self):
return self
def __exit__(self, *a):
return False
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