File size: 2,738 Bytes
a7d8555 | 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 | """Build one rest-gel reference per (date, sensor) for the React dataset.
Each episode is a cut from a continuous per-day recording, so all episodes of a
date share one gel/lighting. This pools every episode's tactile frames for a
date and takes the per-pixel fuzzy mode (the resting gel) -- robust even when an
individual episode is in contact its whole length. Writes:
data/<task>/reference/<date>/tactile_{left,right}.png
data/<task>/reference/manifest.json
Then use it instead of a per-episode reference:
ref = imageio.imread(f"data/{task}/reference/{date}/tactile_{side}.png")
diff = difference(frame, ref) # toolbox.reference
Usage:
python -m toolbox.build_session_references --root data/motherboard
"""
from __future__ import annotations
import argparse, json
from collections import defaultdict
from pathlib import Path
import numpy as np
import imageio.v2 as imageio
from .io import load_video, episode_paths
from .reference import session_reference
def main():
ap = argparse.ArgumentParser()
ap.add_argument("--root", required=True, help="task root, e.g. data/motherboard")
ap.add_argument("--episodes_jsonl", default=None,
help="defaults to <root>/episodes.jsonl")
ap.add_argument("--stride", type=int, default=3, help="frame subsample for speed")
ap.add_argument("--max_frames", type=int, default=4000)
args = ap.parse_args()
root = Path(args.root)
jl = Path(args.episodes_jsonl or (root / "episodes.jsonl"))
eps = [json.loads(l) for l in jl.read_text().splitlines() if l.strip()]
by_date = defaultdict(list)
for e in eps:
by_date[e["date"]].append(e["episode"])
manifest = {}
for date, ep_keys in sorted(by_date.items()):
for side in ("left", "right"):
frames = []
for ek in sorted(ep_keys):
p = episode_paths(root, ek)["tactile_" + side]
if not Path(p).is_file():
continue
v = load_video(p) # (T,H,W,3)
frames.append(v[:: args.stride])
if not frames:
continue
ref = session_reference(frames, max_frames=args.max_frames)
out = root / "reference" / date / f"tactile_{side}.png"
out.parent.mkdir(parents=True, exist_ok=True)
imageio.imwrite(out, ref)
manifest[f"{date}/tactile_{side}"] = str(out.relative_to(root))
print(f"[ref] {date} {side}: pooled {len(frames)} episodes -> {out}")
(root / "reference" / "manifest.json").write_text(json.dumps(manifest, indent=2))
print(f"[done] {len(manifest)} references")
if __name__ == "__main__":
main()
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