| """ |
| 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') |
|
|
| |
| 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(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)) |
|
|
| |
| uuid = calib['uuid'] |
| print(f"UUID: {uuid}") |
|
|
| |
| 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}") |
|
|
