File size: 2,305 Bytes
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Inspect actual camera data structure to find wrist camera.
"""
import sys
from pathlib import Path
sys.path.append(str(Path(__file__).parent.parent))
import json
import numpy as np
calib_dir = Path('/root/workspace/code/wmrl/Dual-Dynamics-Models/DROID-main/vision/u/wenlongh/datasets/droid_v4/cameras')
# Load first calibration file
calib_files = sorted(calib_dir.glob("*_cameras.json"))
calib_file = calib_files[0]
print("=" * 80)
print(f"File: {calib_file.name}")
print("=" * 80)
with open(calib_file, 'r') as f:
calib = json.load(f)
serials = [k for k in calib.keys() if k not in ['uuid', 'scene_path', 'optimization_summary', 'error_info']]
print(f"\nFound {len(serials)} cameras: {serials}")
for serial in serials:
cam_data = calib[serial]
print(f"\n{'='*80}")
print(f"Camera: {serial}")
print(f"{'='*80}")
print(f"Keys: {list(cam_data.keys())}")
for key, value in cam_data.items():
if isinstance(value, (list, np.ndarray)):
value_array = np.array(value)
print(f" {key}: shape={value_array.shape}, dtype={value_array.dtype}")
if value_array.size <= 20: # Print small arrays
print(f" {value_array}")
elif isinstance(value, dict):
print(f" {key}: dict with keys {list(value.keys())}")
else:
print(f" {key}: {value}")
print("\n" + "=" * 80)
print("Checking how CameraCalibrationLoader identifies wrist camera:")
print("=" * 80)
from utils.load_camera_calibration import CameraCalibrationLoader
calib_loader = CameraCalibrationLoader(str(calib_dir))
# Get UUID
uuid = calib['uuid']
print(f"UUID: {uuid}")
# Try to get dual view params
try:
dual_params = calib_loader.get_dual_view_params(uuid, param_type='refined', require_refined=False)
if dual_params:
print(f"\nDual view params found!")
print(f" exterior_1: K shape={dual_params['exterior_1'][0].shape}, E shape={dual_params['exterior_1'][1].shape}")
print(f" wrist: K shape={dual_params['wrist'][0].shape}, E shape={dual_params['wrist'][1].shape}")
K_wrist = dual_params['wrist'][0]
E_wrist = dual_params['wrist'][1]
print(f"\nWrist K:\n{K_wrist}")
print(f"\nWrist E:\n{E_wrist}")
except Exception as e:
print(f"Error: {e}")
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