File size: 5,054 Bytes
aaf8747 | 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 | #!/usr/bin/env python3
"""Resolve a clip frame to source timing, scene and optional recorded controls."""
import argparse
import json
from pathlib import Path
import sqlite3
def resolve_source(root, value):
if value.startswith('source/'):
value = value[len('source/'):]
path = (root / value).resolve()
path.relative_to(root.resolve())
return path
def rows(path):
with path.open(encoding='utf-8-sig') as stream:
for line in stream:
if line.strip():
yield json.loads(line)
def inspect(index, source_root, alignment_path, side, position, records=False):
alignment = json.loads(alignment_path.read_text())
aligned = alignment[side][position]
conn = sqlite3.connect(index.resolve().as_uri() + '?mode=ro', uri=True)
conn.row_factory = sqlite3.Row
with conn:
result = conn.execute('SELECT * FROM frames WHERE frame_id=?',
(aligned['frame_id'],)).fetchone()
if result is None:
raise ValueError(f'Unknown frame_id {aligned["frame_id"]}')
frame = dict(result)
segment = dict(conn.execute('SELECT * FROM segments WHERE segment_id=?',
(frame['segment_id'],)).fetchone())
conn.close()
output_dir = resolve_source(source_root, segment['output_directory'])
episode_root = output_dir.parents[3]
episode_root.relative_to(source_root.resolve())
output = {'side': side, 'clip_frame': position,
'clip_grid_ns': alignment['grid_ns'][position],
'source_alignment': aligned, 'source_frame': frame, 'segment': segment,
'episode_root': str(episode_root),
'scene_path': str(output_dir / frame['scene_index']) if frame.get('scene_index') else None}
frame_path = output_dir / 'frames.jsonl'
details = next((r for r in rows(frame_path)
if r['proxy_frame_index'] == frame['proxy_frame_index']), None)
if details is None:
raise ValueError('Published per-frame metadata is missing')
output['render_frame_metadata'] = details
if records:
domain = frame['server_clock_domain']
clock_domain = frame['client_clock_domain']
world = next((r for r in rows(episode_root / '.spool/world_state.jsonl')
if r.get('sample_seq') == frame['world_capture_tick']
and r.get('server_clock_domain') == domain), None)
output['world_record'] = world
client_path = episode_root / '.spool/agents' / segment['agent_id'] / 'client.jsonl'
matching = []
method = None
for record in rows(client_path):
if record.get('server_clock_domain') != domain:
continue
if clock_domain and record.get('client_clock_domain') != clock_domain:
continue
if details.get('render_frame_id') is not None:
matches = record.get('render_frame_id') == details['render_frame_id']
method = 'same_render_frame_id_and_clock_domains'
elif frame.get('client_sample_seq') is not None:
matches = record.get('client_sample_seq') == frame['client_sample_seq']
method = 'same_client_sample_seq_and_clock_domains'
else:
matches = record.get('sample_seq_estimate') == details.get('camera_capture_tick')
method = 'same_camera_capture_tick_and_clock_domains'
if matches:
matching.append(record)
output['client_match_method'] = method
output['client_records'] = matching
output['client_match_count'] = len(matching)
output['note'] = ('Raw observations only. Interpolated cameras and smoothing may use '
'adjacent observations; these records alone do not recreate that filter.')
return output
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('--index', type=Path, required=True)
parser.add_argument('--source-root', type=Path, required=True,
help='Directory where map and episode metadata archives were extracted')
parser.add_argument('--alignment', type=Path, required=True)
parser.add_argument('--side', choices=['left', 'right'], default='left')
parser.add_argument('--frame', type=int, default=0)
parser.add_argument('--records', action='store_true',
help='Scan episode raw streams for world state and matching client observations')
parser.add_argument('--output', type=Path, help='Write JSON to a new file instead of stdout')
args = parser.parse_args()
output = inspect(args.index, args.source_root, args.alignment, args.side, args.frame, args.records)
text = json.dumps(output, ensure_ascii=False, indent=2) + '\n'
if args.output:
with args.output.open('x', encoding='utf-8') as stream:
stream.write(text)
else:
print(text, end='')
if __name__ == '__main__':
main()
|