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| import collections |
| import json |
| import numpy as np |
| import yaml |
| from pathlib import Path |
| from typing import Any, Dict, Tuple |
|
|
| import cv2 |
|
|
|
|
| def dump_jsonl(data, file_path): |
| """ |
| Write a sequence of data to a file in JSON Lines format. |
| |
| Args: |
| data: Sequence of items to write, one per line. |
| file_path: Path to the output file. |
| |
| Returns: |
| None |
| """ |
| assert isinstance(data, collections.abc.Sequence) and not isinstance(data, str) |
| if isinstance(data, (np.ndarray, np.number)): |
| data = data.tolist() |
| with open(file_path, "w") as fp: |
| for line in data: |
| print(json.dumps(line), file=fp, flush=True) |
|
|
|
|
| def dump_json(data, file_path, **kwargs): |
| """ |
| Write data to a file in standard JSON format. |
| |
| Args: |
| data: Data to write to the file. |
| file_path: Path to the output file. |
| **kwargs: Additional keyword arguments for json.dump. |
| |
| Returns: |
| None |
| """ |
| if isinstance(data, (np.ndarray, np.number)): |
| data = data.tolist() |
| with open(file_path, "w") as fp: |
| json.dump(data, fp, **kwargs) |
|
|
|
|
| def load_json(file_path: str | Path, **kwargs) -> Dict[str, Any]: |
| """ |
| Load a JSON file. |
| |
| Args: |
| file_path: Path to the JSON file to load. |
| **kwargs: Additional keyword arguments for the JSON loader. |
| |
| Returns: |
| Dictionary loaded from the JSON file. |
| """ |
| with open(file_path) as fp: |
| return json.load(fp, **kwargs) |
|
|
|
|
| def load_gr1_joints_config(yaml_path: str | Path) -> Dict[str, Any]: |
| """Load GR1 joint configuration from YAML file""" |
| with open(yaml_path, encoding="utf-8") as f: |
| config = yaml.safe_load(f) |
| return config.get("joints", {}) |
|
|
|
|
| class VideoWriter: |
| """ |
| A class for writing videos from images. |
| """ |
|
|
| def __init__(self, out_video_path: str, video_size: Tuple, fps: int = 20): |
| self.fourcc = cv2.VideoWriter_fourcc(*"mp4v") |
| self.fps = fps |
| self.video_size = video_size |
| self.writer = cv2.VideoWriter(out_video_path, self.fourcc, fps, video_size) |
| print(f"Writing video to: {out_video_path}") |
|
|
| def add_image(self, img): |
| |
| img_bgr = img.squeeze()[:, :, [2, 1, 0]] |
| resized_img = cv2.resize(img_bgr.cpu().numpy(), self.video_size) |
| self.writer.write(resized_img) |
|
|
| def change_file_path(self, out_video_path: str): |
| self.writer.release() |
| self.writer = cv2.VideoWriter(out_video_path, self.fourcc, self.fps, self.video_size) |
| print(f"Writing video to: {out_video_path}") |
|
|
| def close(self): |
| self.writer.release() |
|
|
