DROID-Sim / package /tools /orbit_batch.py
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"""Resume per-scene orbit renders; build the release montage only when all exist."""
import argparse
from concurrent.futures import ThreadPoolExecutor, as_completed
import json
import math
from pathlib import Path
import subprocess
import sys
from PIL import Image, ImageDraw
from package_trajectories import digest, write_json
def main():
p = argparse.ArgumentParser(description=__doc__)
p.add_argument('--dataset', type=Path, default=Path(__file__).resolve().parents[2] / 'batch_1st_scene')
p.add_argument('--output-dir', type=Path, required=True)
p.add_argument('--montage', type=Path)
p.add_argument('--devices', nargs='+', default=['cuda:2', 'cuda:3'])
p.add_argument('--frames', type=int, default=81)
p.add_argument('--width', type=int, default=320)
p.add_argument('--fps', type=int, default=10)
p.add_argument('--amplitude', type=float, default=10)
a = p.parse_args()
scenes = [s for s in sorted(a.dataset.iterdir()) if s.is_dir() and s.name[:4].isdigit()]
a.output_dir.mkdir(parents=True, exist_ok=True)
def worker(group, device):
rows = []
for scene in group:
out = a.output_dir / scene.name[:4]
contract_path = scene / 'render/scene.json'
if not contract_path.is_file():
row = dict(scene=scene.name, status='missing_camera_contract')
else:
contract = json.loads(contract_path.read_text())
expected = dict(camera_contract=digest(contract_path), foreground=digest(scene / contract['foreground']),
background=digest(scene / contract['background']))
cached = json.loads((out / 'orbit.json').read_text()) if (out / 'orbit.json').exists() else {}
reusable = (cached.get('hashes') == expected and len(cached.get('frames', [])) == a.frames
and cached.get('amplitude_degrees') == a.amplitude and cached.get('fps') == a.fps
and cached.get('image_size_wh', [None])[0] == a.width
and all((out / f'frame_{i:03d}.png').is_file() for i in range(a.frames)))
if reusable:
row = dict(scene=scene.name, status='cached')
else:
out.mkdir(exist_ok=True)
command = [sys.executable, str(Path(__file__).with_name('render_orbit.py')), '--scene', str(scene),
'--output-dir', str(out), '--device', device, '--frames', str(a.frames),
'--width', str(a.width), '--fps', str(a.fps), '--amplitude', str(a.amplitude)]
with (out / 'run.log').open('w') as log:
run = subprocess.run(command, stdout=log, stderr=subprocess.STDOUT)
row = dict(scene=scene.name, status='rendered' if run.returncode == 0 else 'failed', exit_code=run.returncode)
rows.append(row)
write_json(a.output_dir / ('status_' + device.replace(':', '_') + '.json'), rows)
print(json.dumps(row), flush=True)
return rows
rows = []
with ThreadPoolExecutor(max_workers=len(a.devices)) as pool:
for future in as_completed([pool.submit(worker, scenes[i::len(a.devices)], device) for i, device in enumerate(a.devices)]):
rows.extend(future.result())
report = dict(total=len(scenes), completed=sum(r['status'] in ('rendered', 'cached') for r in rows),
scenes=sorted(rows, key=lambda r: r['scene']))
write_json(a.output_dir / 'status.json', report)
if a.montage and report['completed'] == len(scenes):
cols = 10
tile_h = max(Image.open(a.output_dir / s.name[:4] / 'frame_000.png').height for s in scenes)
label_h = 20
frames = []
for frame in range(a.frames):
canvas = Image.new('RGB', (cols * a.width, math.ceil(len(scenes) / cols) * (tile_h + label_h)), 'black')
draw = ImageDraw.Draw(canvas)
for i, scene in enumerate(scenes):
x, y = i % cols * a.width, i // cols * (tile_h + label_h)
with Image.open(a.output_dir / scene.name[:4] / f'frame_{frame:03d}.png') as image:
canvas.paste(image, (x, y + label_h))
draw.text((x + 4, y + 3), scene.name[:4], fill='white')
frames.append(canvas.quantize(colors=256))
a.montage.parent.mkdir(parents=True, exist_ok=True)
frames[0].save(a.montage, save_all=True, append_images=frames[1:], duration=round(1000 / a.fps), loop=0)
write_json(a.montage.with_suffix('.json'), dict(scene_ids=[s.name for s in scenes], columns=cols,
fps=a.fps, frames=a.frames, amplitude_degrees=a.amplitude,
compositing_policy='foreground_alpha_priority_over_real_gs', status='all_scenes_rendered'))
elif a.montage:
print('Montage not published: some scenes are missing or failed.', flush=True)
if __name__ == '__main__':
main()