File size: 3,866 Bytes
e3f3efe | 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 | #!/usr/bin/env python
"""make_ego_vis.py — render ego-view visualizations with the PROJECT visualizer.
Assembles a merged episode dir (view1 + view2 + ego) that `visualize_episode.py`
can consume directly, then invokes it. The tracks stay in their shipped view1
frame — the visualizer reconstructs world points once per frame and projects the
SAME points into all three views, so the output shows exo/ego consistency.
"""
from __future__ import annotations
import json, os, subprocess, sys
from pathlib import Path
import numpy as np
SHIPPED = Path("/data/jh_dataset/droid")
EGO = Path("/data/droid_ego_view")
RAWS = [Path("/data/droid_raw_subset"), Path("/data/droid_raw_laundry"),
Path("/data/droid_raw_laundry_scene9")]
STAGE = Path("/data/droid_ego_view_vis")
OUTD = STAGE / "_renders"
VIS = Path("/home/nvidia/jonghoon/gripper_augmentator/gripper_point_tracks/.debug/bw_jh_dataset/visualize_episode.py")
def h264(path):
"""Re-encode an OpenCV-written mp4v file in place to broadly-playable H.264."""
import subprocess, os
p = str(path); tmp = p[:-4] + ".h264.tmp.mp4"
r = subprocess.run(["ffmpeg", "-nostdin", "-v", "error", "-y", "-i", p,
"-c:v", "libx264", "-preset", "veryfast", "-crf", "18",
"-pix_fmt", "yuv420p", "-movflags", "+faststart", "-an", tmp],
capture_output=True, text=True)
if r.returncode == 0 and os.path.exists(tmp):
os.replace(tmp, p)
else:
if os.path.exists(tmp): os.remove(tmp)
print(f" WARN: ffmpeg re-encode failed for {p}: {r.stderr[-200:]}")
def wrist_mp4(ep, serial):
for b in RAWS:
p = b / ep / "recordings" / "MP4" / f"{serial}.mp4"
if p.exists():
return p
return None
def stage(ep):
md = json.loads((EGO / ep / "meta_ego.json").read_text())
I = md["views"]["ego"]["intrinsics"]
if I is None:
return None, "no_intrinsics"
serial = md["views"]["ego"]["serial"]
mp4 = wrist_mp4(ep, serial)
if mp4 is None:
return None, "no_wrist_video"
d = STAGE / ep
d.mkdir(parents=True, exist_ok=True)
for f in ("robot.npz", "gripper.npz", "view1.mp4", "view2.mp4"):
lk = d / f
if not lk.exists():
lk.symlink_to(SHIPPED / ep / f)
lk = d / "ego.mp4"
if not lk.exists():
lk.symlink_to(mp4)
meta = json.loads((SHIPPED / ep / "meta.json").read_text())
T = np.load(EGO / ep / "ego_extrinsics.npz")["T_cam_world_perframe"]
meta["views"]["ego"] = {
"serial": serial,
"intrinsics": {"fx": I["fx"], "fy": I["fy"], "cx": I["cx"], "cy": I["cy"],
"width": I["width"], "height": I["height"],
"source": I["source"]},
"T_cam_world_perframe": T.astype(np.float64).tolist(),
"extrinsics_refined": False,
"n_video_frames": int(T.shape[0]),
}
(d / "meta.json").write_text(json.dumps(meta))
return d, "ok"
def main():
eps = sys.argv[1:]
OUTD.mkdir(parents=True, exist_ok=True)
for ep in eps:
d, st = stage(ep)
if d is None:
print(f"skip {ep}: {st}")
continue
out = OUTD / f"ego_{ep}.mp4"
r = subprocess.run([sys.executable, str(VIS), "--split", "droid",
"--root", str(STAGE), "--episode", ep,
"--out", str(out), "--height", "420",
"--dump-frame", "-1"],
capture_output=True, text=True)
if r.returncode == 0 and out.exists():
h264(out)
tail = (r.stdout or "").strip().splitlines()[-3:]
print(f"{ep}: rc={r.returncode} " + " | ".join(tail))
if r.returncode != 0:
print(" STDERR:", (r.stderr or "")[-300:])
if __name__ == "__main__":
main()
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