Melhorar qualidade do video: aumentar resolucao para 720p, FPS para 30, e adicionar parametros de qualidade FFMPEG

cliport/cfg/data.yaml

@@ -29,6 +29,6 @@ record:
   save_video_path: ${data_dir}/${task}-${mode}/videos/
   add_text: False
   add_task_text: True
-  fps: 20
-  video_height: 320
-  video_width: 360
+  fps: 30
+  video_height: 720
+  video_width: 1280

cliport/environments/environment.py

@@ -552,12 +552,13 @@ class Environment(gym.Env):
         if hasattr(self, 'video_writer'):
             self.video_writer.close()
 
-        # initialize writer
+        # initialize writer with high quality settings
         self.video_writer = imageio.get_writer(os.path.join(self.record_cfg['save_video_path'],
                                                             f"{video_filename}.mp4"),
                                                fps=self.record_cfg['fps'],
                                                format='FFMPEG',
-                                               codec='h264',)
+                                               codec='libx264',
+                                               ffmpeg_params=['-crf', '18', '-preset', 'medium'])  # CRF 18 = high quality
         p.setRealTimeSimulation(False)
         self.save_video = True
 

gensim/sim_runner.py

@@ -409,7 +409,8 @@ class SimulationRunner:
                 video_writer = imageio.get_writer(self.video_path,
                                                   fps=env.record_cfg['fps'],
                                                   format='FFMPEG',
-                                                  codec='h264', )
+                                                  codec='libx264',
+                                                  ffmpeg_params=['-crf', '18', '-preset', 'medium'])  # CRF 18 = high quality
                 print(f"has {len(env.curr_video)} frames to save")
                 for color in env.curr_video:
                     video_writer.append_data(color)