VLAC/plot.py

#!/usr/bin/env python3
"""
从 frames 目录 + CSV（index,value,critic,done）生成左右拼接视频：
左侧当前帧；右侧与 output_2_with_plots 风格一致：顶栏
「Critic: … | Value: … | Done: …」（四位小数），其下三个纵向子图
（Value 绿 0–50、Critic 红 0–50、Done 蓝 0–1），折线 + 圆点，当前帧圆点更大。
"""
from __future__ import annotations

import argparse
import csv
import re
from pathlib import Path

import matplotlib

matplotlib.use("Agg")
import matplotlib.pyplot as plt
import numpy as np
from matplotlib.gridspec import GridSpec
from PIL import Image


def natural_sort_key(p: Path) -> tuple[int, ...]:
    m = re.search(r"(\d+)", p.stem)
    return (int(m.group(1)),) if m else (0,)


def load_frames_dir(frames_dir: Path) -> list[Path]:
    paths = sorted(frames_dir.glob("frame_*.png"), key=natural_sort_key)
    if not paths:
        paths = sorted(frames_dir.glob("*.png"), key=natural_sort_key)
    if not paths:
        raise FileNotFoundError(f"No PNG frames under {frames_dir}")
    return paths


def load_metrics_csv(csv_path: Path) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
    """返回 value, critic, done — 每行对应一个 frame（按 CSV 行顺序）。"""
    with csv_path.open(newline="", encoding="utf-8") as f:
        reader = csv.DictReader(f)
        if not reader.fieldnames:
            raise ValueError(f"Empty CSV: {csv_path}")
        rows = list(reader)

    def col(row: dict, name: str) -> str:
        for k, v in row.items():
            if k and k.strip().lower() == name.lower():
                return v
        raise KeyError(f"Missing column {name!r} in row {row}")

    values: list[float] = []
    critics: list[float] = []
    dones: list[float] = []

    for row in rows:
        row = {k.strip(): v for k, v in row.items() if k is not None}
        values.append(float(col(row, "value")))
        critics.append(float(col(row, "critic")))
        dones.append(float(col(row, "done")))

    return (
        np.asarray(values, dtype=np.float64),
        np.asarray(critics, dtype=np.float64),
        np.asarray(dones, dtype=np.float64),
    )


def align_metrics_to_frame_count(
    n_frames: int,
    value: np.ndarray,
    critic: np.ndarray,
    done: np.ndarray,
) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
    """将 CSV 中的序列对齐到 n_frames 条（不足则重复最后一行，过多则截断）。"""
    if len(value) == n_frames:
        return value, critic, done
    if len(value) > n_frames:
        return value[:n_frames], critic[:n_frames], done[:n_frames]
    pad = n_frames - len(value)
    value = np.concatenate([value, np.full(pad, value[-1])])
    critic = np.concatenate([critic, np.full(pad, critic[-1])])
    done = np.concatenate([done, np.full(pad, done[-1])])
    return value, critic, done


def _plot_metric_subplot(
    ax,
    x: np.ndarray,
    y: np.ndarray,
    line_color: str,
    ylabel: str,
    ylabel_color: str,
    ylim: tuple[float, float],
    *,
    show_xlabel: bool,
) -> None:
    """折线 + 小圆点；最后一个点更大（当前帧）。x/y 长度一致。"""
    ax.set_facecolor("#f0f0f0")
    if len(x) > 1:
        ax.plot(x, y, color=line_color, linewidth=2.0, zorder=2, solid_capstyle="round")
        ax.scatter(
            x[:-1],
            y[:-1],
            s=45,
            color=line_color,
            zorder=3,
            edgecolors="white",
            linewidths=0.9,
        )
    ax.scatter(
        x[-1],
        y[-1],
        s=140,
        color=line_color,
        zorder=4,
        edgecolors="white",
        linewidths=1.2,
    )
    ax.set_ylim(ylim[0], ylim[1])
    ax.set_ylabel(ylabel, fontsize=10, color=ylabel_color)
    ax.tick_params(axis="y", labelcolor=ylabel_color)
    ax.grid(True, alpha=0.35, color="#bbbbbb")
    if show_xlabel:
        ax.set_xlabel("frame index", fontsize=10)


def render_frame(
    img_path: Path,
    t: int,
    n_frames: int,
    value: np.ndarray,
    critic: np.ndarray,
    done: np.ndarray,
    figsize: tuple[float, float],
    dpi: int,
) -> np.ndarray:
    """返回 RGB uint8 拼接图 (H, W, 3)，右侧布局对齐 output_2_with_plots 风格。"""
    img = np.asarray(Image.open(img_path).convert("RGB"))

    fig = plt.figure(figsize=figsize, dpi=dpi)
    gs = GridSpec(
        4,
        2,
        figure=fig,
        width_ratios=[1.0, 1.15],
        height_ratios=[0.14, 1.0, 1.0, 1.0],
        wspace=0.08,
        hspace=0.30,
        left=0.04,
        right=0.98,
        top=0.94,
        bottom=0.08,
    )

    ax_l = fig.add_subplot(gs[1:4, 0])
    ax_l.imshow(img)
    ax_l.set_axis_off()

    ax_hdr = fig.add_subplot(gs[0, 1])
    ax_hdr.set_facecolor("#f0f0f0")
    ax_hdr.axis("off")
    header = (
        f"Critic: {float(critic[t]):.4f} | "
        f"Value: {float(value[t]):.4f} | "
        f"Done: {float(done[t]):.4f}"
    )
    ax_hdr.text(0.5, 0.45, header, ha="center", va="center", fontsize=10, color="black")

    ax_v = fig.add_subplot(gs[1, 1])
    ax_c = fig.add_subplot(gs[2, 1], sharex=ax_v)
    ax_d = fig.add_subplot(gs[3, 1], sharex=ax_v)

    xs = np.arange(0, t + 1, dtype=np.float64)
    x_hi = float(max(n_frames - 1, 1))
    for ax in (ax_v, ax_c, ax_d):
        ax.set_xlim(0.0, x_hi)

    _plot_metric_subplot(
        ax_v,
        xs,
        value[: t + 1],
        "#2ca02c",
        "Value",
        "#2ca02c",
        (0.0, 50.0),
        show_xlabel=False,
    )
    _plot_metric_subplot(
        ax_c,
        xs,
        critic[: t + 1],
        "#d62728",
        "Critic",
        "#d62728",
        (0.0, 50.0),
        show_xlabel=False,
    )
    _plot_metric_subplot(
        ax_d,
        xs,
        done[: t + 1],
        "#1f77b4",
        "Done",
        "black",
        (0.0, 1.0),
        show_xlabel=True,
    )

    plt.setp(ax_v.get_xticklabels(), visible=False)
    plt.setp(ax_c.get_xticklabels(), visible=False)

    fig.patch.set_facecolor("white")
    fig.canvas.draw()
    w_px, h_px = fig.canvas.get_width_height()
    buf = np.asarray(fig.canvas.buffer_rgba())
    buf = buf.reshape(h_px, w_px, 4)[..., :3].copy()
    plt.close(fig)
    # 部分编码器要求宽高为 16 的倍数，避免 imageio 拉伸告警
    h, w = buf.shape[:2]
    nh = (h + 15) // 16 * 16
    nw = (w + 15) // 16 * 16
    if nh != h or nw != w:
        buf = np.pad(buf, ((0, nh - h), (0, nw - w), (0, 0)), mode="edge")
    return buf


def build_video(
    frames_dir: Path,
    csv_path: Path,
    out_mp4: Path,
    fps: float = 8.0,
    figsize: tuple[float, float] = (12.0, 5.5),
    dpi: int = 120,
) -> Path:
    frame_paths = load_frames_dir(frames_dir)
    n = len(frame_paths)

    value, critic, done = load_metrics_csv(csv_path)
    value, critic, done = align_metrics_to_frame_count(n, value, critic, done)

    out_mp4.parent.mkdir(parents=True, exist_ok=True)
    try:
        import imageio.v2 as imageio

        writer = imageio.get_writer(out_mp4, fps=fps, codec="libx264", quality=8)
        for t in range(n):
            rgb = render_frame(
                frame_paths[t],
                t,
                n,
                value,
                critic,
                done,
                figsize=figsize,
                dpi=dpi,
            )
            writer.append_data(rgb)
        writer.close()
    except Exception:
        import cv2

        fourcc = cv2.VideoWriter_fourcc(*"mp4v")
        first = render_frame(frame_paths[0], 0, n, value, critic, done, figsize, dpi)
        h, w = first.shape[:2]
        vw = cv2.VideoWriter(str(out_mp4), fourcc, fps, (w, h))
        for t in range(n):
            rgb = render_frame(frame_paths[t], t, n, value, critic, done, figsize, dpi)
            vw.write(cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR))
        vw.release()

    print(f"[ok] wrote {out_mp4} ({n} frames @ {fps} fps)")
    return out_mp4


def main():
    p = argparse.ArgumentParser(description="Frames + metrics -> side-by-side video (frame | plots).")
    p.add_argument(
        "--frames",
        type=Path,
        default=Path("/scratch1/home/zhicao/VLAC/evo_vlac/examples/images/test"),
        help="Directory with PNG frames (frame_*.png or numbered *.png, natural sort)",
    )
    p.add_argument(
        "--csv",
        type=Path,
        default=Path("/scratch1/home/zhicao/VLAC/2.txt"),
        help="CSV with header: index,value,critic,done",
    )
    p.add_argument(
        "-o",
        "--output",
        type=Path,
        default=Path("/scratch1/home/zhicao/VLAC/output_test_with_plots.mp4"),
        help="Output mp4 path",
    )
    p.add_argument(
        "--fps",
        type=float,
        default=5.0,
        help="Output video frame rate (lower = slower playback)",
    )
    p.add_argument("--dpi", type=int, default=120)
    args = p.parse_args()

    build_video(args.frames, args.csv, args.output, fps=args.fps, dpi=args.dpi)


if __name__ == "__main__":
    main()