droid/scripts/inspect_camera_data.py

"""
Inspect actual camera data structure to find wrist camera.
"""

import sys
from pathlib import Path
sys.path.append(str(Path(__file__).parent.parent))

import json
import numpy as np

calib_dir = Path('/root/workspace/code/wmrl/Dual-Dynamics-Models/DROID-main/vision/u/wenlongh/datasets/droid_v4/cameras')

# Load first calibration file
calib_files = sorted(calib_dir.glob("*_cameras.json"))
calib_file = calib_files[0]

print("=" * 80)
print(f"File: {calib_file.name}")
print("=" * 80)

with open(calib_file, 'r') as f:
    calib = json.load(f)

serials = [k for k in calib.keys() if k not in ['uuid', 'scene_path', 'optimization_summary', 'error_info']]

print(f"\nFound {len(serials)} cameras: {serials}")

for serial in serials:
    cam_data = calib[serial]
    print(f"\n{'='*80}")
    print(f"Camera: {serial}")
    print(f"{'='*80}")
    print(f"Keys: {list(cam_data.keys())}")

    for key, value in cam_data.items():
        if isinstance(value, (list, np.ndarray)):
            value_array = np.array(value)
            print(f"  {key}: shape={value_array.shape}, dtype={value_array.dtype}")
            if value_array.size <= 20:  # Print small arrays
                print(f"    {value_array}")
        elif isinstance(value, dict):
            print(f"  {key}: dict with keys {list(value.keys())}")
        else:
            print(f"  {key}: {value}")

print("\n" + "=" * 80)
print("Checking how CameraCalibrationLoader identifies wrist camera:")
print("=" * 80)

from utils.load_camera_calibration import CameraCalibrationLoader
calib_loader = CameraCalibrationLoader(str(calib_dir))

# Get UUID
uuid = calib['uuid']
print(f"UUID: {uuid}")

# Try to get dual view params
try:
    dual_params = calib_loader.get_dual_view_params(uuid, param_type='refined', require_refined=False)
    if dual_params:
        print(f"\nDual view params found!")
        print(f"  exterior_1: K shape={dual_params['exterior_1'][0].shape}, E shape={dual_params['exterior_1'][1].shape}")
        print(f"  wrist: K shape={dual_params['wrist'][0].shape}, E shape={dual_params['wrist'][1].shape}")

        K_wrist = dual_params['wrist'][0]
        E_wrist = dual_params['wrist'][1]
        print(f"\nWrist K:\n{K_wrist}")
        print(f"\nWrist E:\n{E_wrist}")
except Exception as e:
    print(f"Error: {e}")