| """Batch GT|pred side-by-side videos for every prediction window of a checkpoint. |
| |
| Mirrors the preds/<episode>/start<NNNN>.npz layout: writes one combined mp4 per |
| window to <ckpt-dir>/<out-name>/<episode>/start<NNNN>.mp4 (GT left + label, pred right). |
| """ |
| import argparse |
| from pathlib import Path |
| import numpy as np |
| from PIL import Image, ImageDraw |
|
|
| DATA = Path("/workspace/gnn_data/hanoi_0420_balanced_5fps") |
| W, H, SEP = 320, 192, 4 |
|
|
|
|
| def label(arr, text, xy=(5, 5)): |
| im = Image.fromarray(arr) |
| d = ImageDraw.Draw(im) |
| tw = len(text) * 6 + 8 |
| d.rectangle([xy[0] - 3, xy[1] - 3, xy[0] + tw, xy[1] + 13], fill=(0, 0, 0)) |
| d.text(xy, text, fill=(255, 255, 255)) |
| return np.asarray(im) |
|
|
|
|
| def load_gt(episode, frame_ids): |
| out = [] |
| for fid in frame_ids: |
| im = Image.open(DATA / episode / "side" / "rgb" / f"frame_{int(fid):06d}.png").convert("RGB").resize((W, H), Image.BILINEAR) |
| out.append(np.asarray(im, dtype=np.uint8)) |
| return np.stack(out) |
|
|
|
|
| def write_mp4(path, frames, fps): |
| try: |
| import mediapy as media |
| media.write_video(str(path), frames, fps=fps) |
| except Exception: |
| import imageio.v2 as imageio |
| imageio.mimwrite(str(path), frames, fps=fps, macro_block_size=None) |
|
|
|
|
| def main(): |
| ap = argparse.ArgumentParser() |
| ap.add_argument("--ckpt-dir", type=Path, required=True) |
| ap.add_argument("--out-name", default="viz_gt_vs_pred") |
| ap.add_argument("--fps", type=int, default=5) |
| cli = ap.parse_args() |
|
|
| preds = cli.ckpt_dir / "preds" |
| out_root = cli.ckpt_dir / cli.out_name |
| npzs = sorted(preds.glob("*/start*.npz")) |
| print(f"{len(npzs)} windows -> {out_root}") |
| sep = np.full((H, SEP, 3), 255, np.uint8) |
| for i, npz in enumerate(npzs, 1): |
| episode = npz.parent.name |
| d = np.load(npz) |
| pred, fids = d["pred"], d["frame_ids"] |
| gt = load_gt(episode, fids) |
| frames = np.stack([ |
| np.concatenate([label(gt[k], "GT"), sep, label(pred[k], "PRED")], axis=1) |
| for k in range(len(pred)) |
| ]) |
| od = out_root / episode |
| od.mkdir(parents=True, exist_ok=True) |
| write_mp4(od / f"{npz.stem}.mp4", frames, cli.fps) |
| if i % 15 == 0 or i == len(npzs): |
| print(f" {i}/{len(npzs)}", flush=True) |
| print("done:", out_root) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
