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Running on Zero
Running on Zero
File size: 2,673 Bytes
1811aab | 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 | """Reading a rendered clip directory.
rgb.mp4 1344x768, 24 fps
conditions/ fine proxy (CARLA depth + segmentation), NNNNNN.{depth.f32,semantic_id.png}
conditions_coarse/ coarse proxy (rtcwm.data.proxy)
cameras.json per-frame UE camera pose + RGB intrinsics
scene_static.json level boxes, lane waypoints, parked vehicles (input of the coarse proxy)
scene_frames.jsonl per-frame protagonist bones and background walkers
meta.json map, seed, route, camera parameters, trajectory, QC
prompts/NNN.txt one caption per 124-frame window
"""
from __future__ import annotations
import json
import os
from pathlib import Path
import numpy as np
from PIL import Image
from .geometry import PROXY_H, PROXY_W
FPS = 24
WINDOW_FRAMES, STRIDE_FRAMES = 124, 90
def n_windows(frames: int) -> int:
return (frames - WINDOW_FRAMES) // STRIDE_FRAMES + 1
def window_frames(w: int) -> slice:
return slice(STRIDE_FRAMES * w, STRIDE_FRAMES * w + WINDOW_FRAMES)
def read_meta(clip: Path) -> dict:
return json.loads((Path(clip) / "meta.json").read_text())
def read_cameras(clip: Path) -> list:
return json.loads((Path(clip) / "cameras.json").read_text())["frames"]
def read_scene_frames(clip: Path) -> list:
with open(Path(clip) / "scene_frames.jsonl") as fh:
return [json.loads(line) for line in fh]
def read_scene_static(clip: Path) -> dict:
return json.loads((Path(clip) / "scene_static.json").read_text())
def read_proxy(clip: Path, i: int, kind: str = "conditions"):
"""(depth [192,336] float32, semantic [192,336] uint8) of frame i."""
d = Path(clip) / kind
depth = np.fromfile(d / f"{i:06d}.depth.f32", dtype="<f4").reshape(PROXY_H, PROXY_W)
sem = np.array(Image.open(d / f"{i:06d}.semantic_id.png"))
return depth, sem
def qc_pass(clip: Path) -> bool:
try:
return bool(read_meta(clip).get("qc", {}).get("pass"))
except (OSError, ValueError):
return False
def has_coarse_proxy(clip: Path) -> bool:
d = Path(clip) / "conditions_coarse"
try:
return d.is_dir() and len(os.listdir(d)) >= 2 * read_meta(clip)["frames"]
except (OSError, ValueError, KeyError):
return False
def has_prompts(clip: Path) -> bool:
try:
nw = n_windows(read_meta(clip)["frames"])
except (OSError, ValueError, KeyError):
return False
return all((Path(clip) / "prompts" / f"{w:03d}.txt").exists() for w in range(nw))
def complete(clip: Path) -> bool:
"""Rendered, passed QC and has its coarse proxy."""
return qc_pass(clip) and has_coarse_proxy(clip)
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