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fbd9366 | 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 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 | #!/usr/bin/env python3
"""Render uniformly sampled T-Rex track-cache episodes without rerunning models."""
from __future__ import annotations
import argparse
import json
import sys
from pathlib import Path
import numpy as np
_SCRIPT_DIR = Path(__file__).resolve().parent
_REPO_ROOT = _SCRIPT_DIR.parents[1]
_SCRIPTS_DIR = _REPO_ROOT / "scripts"
if str(_SCRIPTS_DIR) not in sys.path:
sys.path.insert(0, str(_SCRIPTS_DIR))
from extract_track import load_episode_videos # noqa: E402
from trex_track.layout import VIEW_ORDER # noqa: E402
from trex_track.trex_viz_tracks import render_three_view_combined_video # noqa: E402
def _parse_args() -> argparse.Namespace:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--dataset-root",
type=Path,
default=_REPO_ROOT / "data" / "trex_full_force",
)
parser.add_argument("--track-cache", type=Path, default=None)
parser.add_argument(
"--output-dir",
type=Path,
default=_REPO_ROOT / "outputs" / "trex_track_samples",
)
parser.add_argument("--num-samples", type=int, default=3)
parser.add_argument("--episodes", type=int, nargs="*", default=None)
parser.add_argument("--fps", type=int, default=0)
parser.add_argument("--trail", type=int, default=15)
return parser.parse_args()
def _uniform_episode_indices(total_episodes: int, count: int) -> list[int]:
if count < 1:
raise ValueError("--num-samples must be positive")
if count > total_episodes:
raise ValueError("--num-samples cannot exceed total episodes")
return [
int(index)
for index in np.rint(
np.linspace(0, total_episodes - 1, count, dtype=np.float64)
)
]
def _load_tracks(path: Path) -> tuple[dict[str, np.ndarray], dict[str, np.ndarray]]:
if not path.is_file():
raise FileNotFoundError(path)
with np.load(path, allow_pickle=False) as payload:
tracks = {
view: np.asarray(payload[f"tracks_{view}"], dtype=np.float32)
for view in VIEW_ORDER
}
visibility = {
view: np.asarray(payload[f"vis_{view}"], dtype=np.float32)
for view in VIEW_ORDER
}
for view in VIEW_ORDER:
if visibility[view].shape != tracks[view].shape[:2]:
raise ValueError(
f"{path}: {view} visibility {visibility[view].shape} "
f"does not match tracks {tracks[view].shape}"
)
return tracks, visibility
def main() -> int:
args = _parse_args()
dataset_root = args.dataset_root.expanduser().resolve()
track_cache = (
args.track_cache.expanduser().resolve()
if args.track_cache is not None
else dataset_root / "tracks_trex_track_force_v2"
)
output_dir = args.output_dir.expanduser().resolve()
info = json.loads((dataset_root / "meta" / "info.json").read_text())
total_episodes = int(info["total_episodes"])
video_shape = info["features"]["observation.images.head_left"]["shape"]
out_hw = (int(video_shape[0]), int(video_shape[1]))
fps = int(args.fps) if args.fps > 0 else int(info["fps"])
episode_indices = (
[int(index) for index in args.episodes]
if args.episodes
else _uniform_episode_indices(total_episodes, int(args.num_samples))
)
if any(index < 0 or index >= total_episodes for index in episode_indices):
raise ValueError(f"episode indices must be in [0, {total_episodes})")
output_dir.mkdir(parents=True, exist_ok=True)
rendered: list[dict[str, object]] = []
for episode_index in episode_indices:
cache_path = track_cache / f"episode_{episode_index:06d}.npz"
output_path = output_dir / f"episode_{episode_index:06d}_tracks.mp4"
print(f"Rendering episode {episode_index}: {output_path}", flush=True)
tracks, visibility = _load_tracks(cache_path)
videos = load_episode_videos(
dataset_root,
episode_index,
out_hw=out_hw,
)
frame_counts = {
view: int(videos[view].shape[0])
for view in VIEW_ORDER
}
for view in VIEW_ORDER:
if int(tracks[view].shape[0]) != frame_counts[view]:
raise ValueError(
f"episode {episode_index} {view}: "
f"{tracks[view].shape[0]} track frames != "
f"{frame_counts[view]} video frames"
)
render_three_view_combined_video(
view_images=videos,
view_tracks=tracks,
view_vis=visibility,
out_path=output_path,
fps=fps,
draw_trail=int(args.trail),
dim_low_vis=True,
)
rendered.append(
{
"episode_index": episode_index,
"frames": min(frame_counts.values()),
"fps": fps,
"track_cache": str(cache_path),
"video": str(output_path),
}
)
del tracks, visibility, videos
summary_path = output_dir / "samples.json"
summary_path.write_text(
json.dumps(
{
"dataset_root": str(dataset_root),
"sampling": "uniform endpoints and midpoint",
"episodes": rendered,
},
indent=2,
)
+ "\n"
)
print(f"Wrote {summary_path}")
return 0
if __name__ == "__main__":
raise SystemExit(main())
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