Hand-Datasets-Raw / FreiHAND /shared-v1.1 /script /render_full_random_review.py
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Migrate HOT3D, OakInk-v1, OakInk-v2 and FreiHAND to shared-v1.1 (#4)
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"""Check complete FreiHAND v1.1 views using shared media, without raw or MANO.
All selected frames are decoded and checked; only the HTML display is sampled.
Output must be a new directory outside both input trees. Human review stays pending.
"""
import argparse
from contextlib import closing
from datetime import datetime, timezone
import hashlib
import html
import json
from pathlib import Path, PurePosixPath
import random
import shutil
import subprocess
import tempfile
import numpy as np
from PIL import Image, ImageDraw
import torch
try:
from bundle_io import ViewReader
except ModuleNotFoundError as exc:
# Development copy: script/updated. Packaged copy: script/.
if exc.name != "bundle_io":
raise
import sys
sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
from bundle_io import ViewReader
from fetch_shared_subset import REPO, REVISION, PREFIX
from validate_freihand import check_source_manifest
SCHEMA_VERSION = "hand-warehouse/1.1"
RELEASE_ID = "shared-v1.1"
EDGES = [(0, b) for b in (1, 5, 9, 13, 17)] + [
(b + j, b + j + 1) for b in (1, 5, 9, 13, 17) for j in range(3)]
def relative_path(value):
if (not isinstance(value, str) or not value or "\\" in value or ":" in value or
any(part in ("", ".", "..") for part in value.split("/"))):
raise ValueError(f"Not a relative POSIX path: {value!r}")
path = PurePosixPath(value)
if path.is_absolute():
raise ValueError(f"Not a relative POSIX path: {value!r}")
return path
def safe_path(root, value):
root = Path(root).resolve()
path = (root / relative_path(value)).resolve()
if not path.is_relative_to(root):
raise ValueError(f"Reference escapes its input tree: {value}")
return path
def file_hashes(path):
size = path.stat().st_size
sha = hashlib.sha256()
git = hashlib.sha1(b"blob " + str(size).encode() + b"\0")
with path.open("rb") as stream:
for block in iter(lambda: stream.read(4 << 20), b""):
sha.update(block)
git.update(block)
return {"size": size, "sha256": sha.hexdigest(), "git_blob_sha1": git.hexdigest()}
def source_entries(path):
manifest = json.loads(Path(path).read_text())
check_source_manifest(manifest)
if (manifest.get("repo"), manifest.get("revision"), manifest.get("source_prefix")) != (
REPO, REVISION, PREFIX.rstrip("/")):
raise ValueError("Source manifest does not bind the expected fixed FreiHAND release")
entries = {}
for entry in manifest["files"]:
name = str(relative_path(entry["relative_path"]))
if entry.get("path") != PREFIX + name or name in entries:
raise ValueError(f"Invalid or duplicate source-manifest entry: {name}")
if entry.get("digest_algorithm") not in ("sha256", "git_blob_sha1"):
raise ValueError(f"Unsupported source digest: {name}")
entries[name] = entry
return entries
def verify_source(path, name, entries):
if name not in entries:
raise ValueError(f"File is not in the fixed source manifest: {name}")
entry, actual = entries[name], file_hashes(path)
if actual["size"] != entry["size"] or actual[entry["digest_algorithm"]] != entry["digest"]:
raise ValueError(f"Fixed-source digest mismatch: {name}")
return {"relative_path": name, **actual}
def check_output(output, release, media_root):
output = Path(output)
if output.exists() or output.is_symlink():
raise FileExistsError(f"Refusing to overwrite an existing output: {output}")
output = output.resolve()
for root in (Path(release).resolve(), Path(media_root).resolve()):
if output.is_relative_to(root) or root.is_relative_to(output):
raise ValueError("Review output must be a new directory outside both input trees")
if "shared-v1.0" in output.parts:
raise ValueError("v1.1 review output cannot be placed in a v1.0 release")
return output
def probe_video(path, storage, image_size):
result = subprocess.run(["ffprobe", "-v", "error", "-show_streams", "-of", "json", str(path)],
check=True, capture_output=True, text=True)
streams = [s for s in json.loads(result.stdout)["streams"] if s["codec_type"] == "video"]
if len(streams) != 1:
raise ValueError(f"Expected exactly one video stream: {path}")
stream = streams[0]
size = [stream["width"], stream["height"]]
if size != list(image_size) or size != storage["encoded_size"]:
raise ValueError(f"Video dimensions disagree with metainfo: {path}: {size}")
if stream["codec_name"] != storage["codec"] or stream["pix_fmt"] != storage["pixel_format"]:
raise ValueError(f"Video codec/native pixel format disagrees with metainfo: {path}")
rotations = [s.get("rotation", 0) for s in stream.get("side_data_list", [])]
rotations.append(stream.get("tags", {}).get("rotate", 0))
if any(float(angle) % 360 for angle in rotations):
raise ValueError(f"Unsupported video rotation: {path}")
return {key: stream[key] for key in ("codec_name", "pix_fmt", "width", "height")}
def decode_frames(path, pixel_format, width, height, count):
"""Stream native gray data, then widen uint8 to uint16 without FFmpeg scaling."""
if pixel_format not in ("rgb24", "gray", "gray16le"):
raise ValueError(f"Unsupported decoded pixel format: {pixel_format}")
dtype = np.dtype("<u2" if pixel_format == "gray16le" else "u1")
shape = (height, width, 3) if pixel_format == "rgb24" else (height, width)
frame_bytes = int(np.prod(shape)) * dtype.itemsize
command = ["ffmpeg", "-nostdin", "-v", "error", "-threads", "1", "-filter_threads", "1",
"-noautorotate", "-i", str(path), "-map", "0:v:0", "-an", "-sn", "-dn", "-vsync", "0",
"-pix_fmt", pixel_format, "-f", "rawvideo", "-threads", "1", "pipe:1"]
with tempfile.TemporaryFile() as errors:
process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=errors)
try:
for index in range(count):
data = process.stdout.read(frame_bytes)
if len(data) != frame_bytes:
raise ValueError(f"Too few or truncated video frames: {path}, frame {index}/{count}")
frame = np.frombuffer(data, dtype=dtype).reshape(shape)
yield frame if pixel_format == "rgb24" else frame.astype(np.uint16)
if process.stdout.read(1):
raise ValueError(f"Too many video frames: {path}, expected {count}")
if process.wait() != 0:
errors.seek(0)
raise RuntimeError(f"Video decoder failed: {errors.read().decode(errors='replace')}")
finally:
process.stdout.close()
if process.poll() is None:
process.terminate()
try:
process.wait(timeout=2)
except subprocess.TimeoutExpired:
process.kill()
process.wait()
def validate_mask(mask, component, record, frame_index, valid):
if mask.dtype != np.uint16:
raise ValueError("Mask must be losslessly promoted to uint16")
schema = component["schema_id"]
if schema == "segment/foreground_intensity/v1":
if (int(mask.max()) > 255 or component.get("value_range") != [0, 255] or
component.get("normalization_scale") != 1 / 255 or
component.get("foreground_category") != "hand" or component.get("entity_id") != "hand_right"):
raise ValueError(f"Invalid FreiHAND foreground-intensity semantics at frame {frame_index}")
return {}
if schema != "segment/uint16_labels/v1" or record is None or record.get("frame_index") != frame_index:
raise ValueError(f"Missing or misaligned region mapping at frame {frame_index}")
mapping = {}
for label in record["labels"]:
code = label["mask_value"]
if type(code) is not int or not 1 <= code <= 65534 or code in mapping:
raise ValueError(f"Invalid, duplicate or reserved mapped code at frame {frame_index}: {code}")
if not all(key in label for key in ("category_id", "entity_id", "part_id")):
raise ValueError(f"Incomplete region mapping at frame {frame_index}")
category = label["category_id"]
if (category not in ("hand", "background") or label["part_id"] is not None or
label["entity_id"] != ("hand_right" if category == "hand" else None)):
raise ValueError(f"Unverified FreiHAND region meaning at frame {frame_index}: {label}")
mapping[code] = label
unknown = set(map(int, np.unique(mask))) - {0, 65535} - mapping.keys()
if unknown:
raise ValueError(f"Unmapped mask codes at frame {frame_index}: {sorted(unknown)} (valid={valid})")
return mapping
def mask_image(mask, component, mapping):
if component["schema_id"] == "segment/foreground_intensity/v1":
return Image.fromarray(mask.astype(np.uint8)).convert("RGB")
colors = np.zeros((*mask.shape, 3), np.uint8)
colors[mask == 0] = (110, 110, 110)
colors[mask == 65535] = (255, 0, 255)
for code, label in mapping.items():
if label["category_id"] == "hand":
# Native code colors do not assign unverified finger names.
colors[mask == code] = (40 + code * 47 % 200, 40 + code * 83 % 200, 40 + code * 29 % 200)
return Image.fromarray(colors)
def project_keypoints(intrinsic, xyz, point_valid, intrinsic_valid):
uv = np.full((2, 21, 2), np.nan)
usable = point_valid.copy() if intrinsic_valid else np.zeros_like(point_valid)
if usable.any():
projected = xyz[usable].astype(np.float64) @ intrinsic.astype(np.float64).T
if not np.isfinite(projected).all() or (projected[:, 2] <= 0).any():
raise ValueError("Valid keypoints cannot be projected with finite positive camera depth")
uv[usable] = projected[:, :2] / projected[:, 2, None]
if not np.isfinite(uv[usable]).all():
raise ValueError("Non-finite keypoint projection")
return uv, usable
def render_panel(rgb, mask, component, mapping, uv, usable, rgb_valid, mask_valid):
width, height = rgb.shape[1], rgb.shape[0]
projected = Image.fromarray(rgb.copy())
draw = ImageDraw.Draw(projected)
if rgb_valid:
for hand in range(2):
for a, b in EDGES:
if usable[hand, a] and usable[hand, b]:
draw.line([tuple(uv[hand, a]), tuple(uv[hand, b])], fill=(255, 200, 0), width=1)
for x, y in uv[hand, usable[hand]]:
if 0 <= x < width and 0 <= y < height:
draw.ellipse((x - 2, y - 2, x + 2, y + 2), fill=(255, 30, 40))
panel = Image.new("RGB", (width * 3, height + 30), "white")
images = [Image.fromarray(rgb), mask_image(mask, component, mapping), projected]
titles = [f"RGB (valid={rgb_valid})", f"Mask (valid={mask_valid})", "RGB + native XYZ"]
for column, (image, title) in enumerate(zip(images, titles)):
panel.paste(image, (column * width, 30))
ImageDraw.Draw(panel).text((column * width + 3, 8), title, fill="black")
return panel
def check_numeric(data, valid, shape, valid_shape, name):
if (data.dtype != torch.float32 or tuple(data.shape) != shape or valid.dtype != torch.bool or
tuple(valid.shape) != valid_shape or data.device.type != "cpu" or valid.device.type != "cpu"):
raise ValueError(f"Wrong numeric dtype, shape or device: {name}")
if not torch.isfinite(data[valid]).all() or not torch.isnan(data[~valid]).all():
raise ValueError(f"Numeric data/valid disagreement: {name}")
def sample_indices(total, count, seed):
if count <= 0:
raise ValueError("--samples-per-view must be positive")
count = min(total, count)
selected = {0}
if count > 1:
selected.add(total - 1)
selected.update(random.Random(seed).sample(sorted(set(range(total)) - selected), count - len(selected)))
return sorted(selected)
def json_write(path, value):
path.write_text(json.dumps(value, ensure_ascii=False, indent=2, allow_nan=False) + "\n", encoding="utf-8")
def check_view(release, media_root, view, entries, output, seed, samples_per_view):
view_path = safe_path(release, view)
reader = ViewReader(view_path)
meta, components = reader.meta, reader.meta["components"]
total = meta["num_frames"]
if (meta.get("schema_version") != SCHEMA_VERSION or meta.get("release_id") != RELEASE_ID or
meta.get("dataset_id") != "FreiHAND" or type(total) is not int or total <= 0 or
meta.get("hand_slots") != ["left", "right"] or meta["camera"]["model"] != "pinhole"):
raise ValueError(f"Unsupported view metadata: {view}")
if view != f'data/{meta["sequence_id"]}/{meta["camera_id"]}':
raise ValueError(f"View identity disagrees with its path: {view}")
xyz_component = components["keypoints_xyz"]
if (xyz_component.get("schema_id") != "keypoints/xyz/v1" or
xyz_component.get("keypoint_schema") != "mano21/v1" or
xyz_component.get("unit") != "m" or xyz_component.get("coordinate_frame") != "camera" or
components["intrinsic"].get("schema_id") != "camera/pinhole/v1"):
raise ValueError(f"Unsupported camera/keypoint semantics: {view}")
for name in ("intrinsic", "keypoints_xyz", "rgb", "segment"):
component = components[name]
if component.get("available") is not True:
raise ValueError(f"Required component is unavailable: {view}/{name}")
for key in ("data_ref", "valid_ref"):
safe_path(view_path, component[key])
intrinsic, intrinsic_valid = reader.numeric("intrinsic")
xyz, point_valid = reader.numeric("keypoints_xyz")
check_numeric(intrinsic, intrinsic_valid, (total, 3, 3), (total,), "intrinsic")
check_numeric(xyz, point_valid, (total, 2, 21, 3), (total, 2, 21), "keypoints_xyz")
intrinsic, intrinsic_valid, xyz, point_valid = [x.numpy() for x in (intrinsic, intrinsic_valid, xyz, point_valid)]
bound = []
frames_ref = meta["sampling"]["frames_ref"]
frames_path = safe_path(view_path, frames_ref)
bound.append(verify_source(frames_path, view + "/" + frames_ref, entries))
rows = [json.loads(line) for line in frames_path.read_text().splitlines()]
if (len(rows) != total or any(row["frame_index"] != i for i, row in enumerate(rows)) or
len({row["sample_id"] for row in rows}) != total):
raise ValueError(f"Incomplete or misaligned frame table: {view}")
media, validity, probes = {}, {}, {}
for name in ("rgb", "segment"):
component = components[name]
if "data_key" in component or "valid_key" in component:
raise ValueError("Media and standalone validity must not use bundle keys")
valid_path = safe_path(view_path, component["valid_ref"])
bound.append(verify_source(valid_path, view + "/" + component["valid_ref"], entries))
valid = reader.validity(name)
if valid.dtype != torch.bool or tuple(valid.shape) != (total,):
raise ValueError(f"Invalid independent media validity: {view}/{name}")
validity[name] = valid.numpy()
name_in_tree = view + "/" + component["data_ref"]
media[name] = safe_path(media_root, name_in_tree)
bound.append(verify_source(media[name], name_in_tree, entries))
probes[name] = probe_video(media[name], component["storage"], meta["camera"]["image_size"])
segment = components["segment"]
mask_pixel_format = segment["storage"]["pixel_format"]
if mask_pixel_format not in ("gray", "gray16le") or segment["storage"]["codec"] != "ffv1":
raise ValueError("Masks require native gray or gray16le FFV1")
expected_schema = "segment/foreground_intensity/v1" if meta["split"] == "train" else "segment/uint16_labels/v1"
if segment["schema_id"] != expected_schema or segment["storage"]["profile"] != "mkv/uint16_ffv1/v1":
raise ValueError("Split and mask semantics do not match")
mapping_rows = [None] * total
if segment["schema_id"] == "segment/uint16_labels/v1":
mapping_ref = segment["mapping_ref"]
mapping_path = safe_path(view_path, mapping_ref)
bound.append(verify_source(mapping_path, view + "/" + mapping_ref, entries))
mapping_rows = [json.loads(line) for line in mapping_path.read_text().splitlines()]
if len(mapping_rows) != total:
raise ValueError(f"Region mapping frame count differs: {view}")
selected = set(sample_indices(total, samples_per_view, seed))
samples, values = [], set()
rgb_hash, mask_hash = hashlib.sha256(), hashlib.sha256()
width, height = meta["camera"]["image_size"]
projected_points = out_of_image = 0
snapshots = {name: (path.stat().st_size, path.stat().st_mtime_ns) for name, path in media.items()}
with closing(decode_frames(media["rgb"], "rgb24", width, height, total)) as rgbs, closing(
decode_frames(media["segment"], mask_pixel_format, width, height, total)) as masks:
for index, (rgb, mask) in enumerate(zip(rgbs, masks, strict=True)):
mask_valid = bool(validity["segment"][index])
mapping = validate_mask(mask, segment, mapping_rows[index], index, mask_valid)
values.update(map(int, np.unique(mask)))
uv, usable = project_keypoints(intrinsic[index], xyz[index], point_valid[index], intrinsic_valid[index])
projected_points += int(usable.sum())
points = uv[usable]
out_of_image += int(((points[:, 0] < 0) | (points[:, 0] >= width) |
(points[:, 1] < 0) | (points[:, 1] >= height)).sum())
rgb_bytes, mask_bytes = rgb.tobytes(), mask.astype("<u2", copy=False).tobytes()
rgb_hash.update(rgb_bytes)
mask_hash.update(mask_bytes)
if index in selected:
name = view.replace("/", "__") + f"__{index:06d}.png"
render_panel(rgb, mask, segment, mapping, uv, usable, bool(validity["rgb"][index]), mask_valid).save(output / name)
samples.append({"view": view, "sample_id": rows[index]["sample_id"], "frame_index": index,
"preview": name, "rgb_valid": bool(validity["rgb"][index]), "mask_valid": mask_valid,
"rgb_sha256": hashlib.sha256(rgb_bytes).hexdigest(),
"mask_uint16_sha256": hashlib.sha256(mask_bytes).hexdigest()})
if any((path.stat().st_size, path.stat().st_mtime_ns) != snapshots[name] for name, path in media.items()):
raise ValueError(f"Media changed during review: {view}")
inputs = sorted({"metainfo.json", components["intrinsic"]["data_ref"], xyz_component["data_ref"]})
return {"view": view, "frames_checked": total, "complete_view_checked": True,
"pixel_formats": probes, "mask_schema": segment["schema_id"], "observed_mask_values": sorted(values),
"valid_rgb_frames": int(validity["rgb"].sum()), "valid_mask_frames": int(validity["segment"].sum()),
"projected_keypoints": projected_points, "projected_keypoints_outside_image": out_of_image,
"rgb_all_frames_sha256": rgb_hash.hexdigest(), "mask_all_frames_uint16_sha256": mask_hash.hexdigest(),
"fixed_source_files": bound, "bundle_inputs": [{"relative_path": view + "/" + p,
**file_hashes(safe_path(view_path, p))} for p in inputs], "display_samples": samples}
def write_html(output, report):
cards = []
for view in report["views"]:
for sample in view["display_samples"]:
cards.append(f'<section><h2>{html.escape(sample["sample_id"])}</h2>'
f'<p>{html.escape(sample["view"])} · frame {sample["frame_index"]}</p>'
f'<img src="{html.escape(sample["preview"])}" alt="RGB, mask, and XYZ projection"></section>')
text = ('<!doctype html><html lang="zh-CN"><meta charset="utf-8">'
'<title>FreiHAND v1.1 shared 视觉验收</title><style>'
'body{font:16px system-ui;max-width:1100px;margin:32px auto;padding:0 16px;color:#18232f}'
'section{margin:24px 0;padding:12px;background:#f3f5f7}img{max-width:100%;height:auto}</style>'
'<h1>FreiHAND v1.1:完整分片检查与抽样展示</h1>'
f'<p>自动检查:{report["frames_checked"]} 帧、{len(report["views"])} 个完整视图。'
f'展示:{report["displayed_frames"]} 帧,包含首帧;每视图展示至少两帧时包含尾帧,'
f'其余用固定种子 {report["seed"]} 抽样。'
'抽样展示不等于人工看过完整分片,不能估计全量错误率。</p>'
'<p><strong>人工验收:pending,尚待确认。</strong>本报告不宣称完整数据集可发布。</p>'
'<p>每行依次是 RGB、独立 mask、RGB + 原生 XYZ 投影。训练 mask 为 0–255 灰度强度;'
'评估 mask 用颜色区分原生区域码,不推断手指名称。评估黑色是明确映射的背景,'
'灰色是未分配码 0,洋红是忽略码 65535。左右手投影遵循 valid,不用缺失标注补图。</p>'
'<p>检查图片与标注对应、投影方向和尺度、分割边缘。数据只来自固定源 shared 媒体及新 bundle;'
'未读取 raw,未调用 MANO 模型,也未在此报告中重做 raw 语义转换验收。</p>'
'<p><a href="report.json">机器报告、完整检查范围和文件摘要</a></p>' + ''.join(cards) + '</html>')
(output / "index.html").write_text(text, encoding="utf-8")
def run_review(release, media_root, source_manifest, output, views, seed=20261013, samples_per_view=12):
release, media_root = Path(release).resolve(), Path(media_root).resolve()
output = check_output(output, release, media_root)
if not release.is_dir() or not media_root.is_dir():
raise FileNotFoundError("Both --release and --media-root must exist")
if not shutil.which("ffmpeg") or not shutil.which("ffprobe"):
raise RuntimeError("FFmpeg and ffprobe are required")
torch.set_num_threads(1)
entries = source_entries(source_manifest)
selected = [str(relative_path(view)) for view in views]
if not selected or len(set(selected)) != len(selected):
raise ValueError("Select one or more distinct complete views")
source_views = {str(PurePosixPath(name).parent) for name in entries
if name.startswith("data/") and len(PurePosixPath(name).parts) == 4 and name.endswith("/metainfo.json")}
for view in selected:
if view not in source_views:
raise ValueError(f"Selected view is absent from the fixed source manifest: {view}")
siblings = {v for v in source_views if PurePosixPath(v).parent == PurePosixPath(view).parent}
if not siblings.issubset(selected):
raise ValueError(f"Select all cameras for a representative sequence: {sorted(siblings)}")
report = {"schema_version": SCHEMA_VERSION, "release_id": RELEASE_ID,
"status": "running", "human_review": "pending", "full_release_ready": False,
"source_repo": REPO, "source_revision": REVISION,
"source_manifest_sha256": file_hashes(Path(source_manifest))["sha256"],
"script_sha256": file_hashes(Path(__file__))["sha256"],
"started_utc": datetime.now(timezone.utc).isoformat(), "seed": seed,
"scope": "All frames of selected complete shared views; sampled display; no raw or MANO rendering.",
"ffmpeg_version": subprocess.check_output(["ffmpeg", "-version"], text=True).splitlines()[0],
"selected_views": selected, "views": [], "frames_checked": 0, "displayed_frames": 0}
output.mkdir(parents=True, exist_ok=False)
json_write(output / "report.json", report)
try:
for view in selected:
print(f"Checking complete view: {view}", flush=True)
result = check_view(release, media_root, view, entries, output, seed, samples_per_view)
report["views"].append(result)
report["frames_checked"] += result["frames_checked"]
report["displayed_frames"] += len(result["display_samples"])
json_write(output / "report.json", report)
report["status"] = "automated_checks_passed_human_review_pending"
report["completed_utc"] = datetime.now(timezone.utc).isoformat()
json_write(output / "report.json", report)
write_html(output, report)
except Exception as exc:
report["status"] = "failed"
report["error"] = f"{type(exc).__name__}: {exc}"
json_write(output / "report.json", report)
raise
return report
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--release", type=Path, required=True)
parser.add_argument("--media-root", type=Path, required=True,
help="External shared tree containing media at matching data/... paths")
parser.add_argument("--source-manifest", type=Path, required=True)
parser.add_argument("--output", type=Path, required=True,
help="New independent v1.1 evidence directory outside both input trees; never overwritten")
parser.add_argument("--views", action="append", required=True,
help="Complete view relative to shared root, e.g. data/training_00118784/camera; repeatable")
parser.add_argument("--seed", type=int, default=20261013)
parser.add_argument("--samples-per-view", type=int, default=12)
args = parser.parse_args()
report = run_review(**vars(args))
print(json.dumps({key: report[key] for key in ("status", "frames_checked", "displayed_frames", "human_review")},
ensure_ascii=False))
print(args.output.resolve() / "index.html")
if __name__ == "__main__":
main()