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Add support for video=False in record (no tested yet)

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This commit is contained in:
Remi Cadene
2024-09-26 11:41:19 +02:00
parent 2c0171632f
commit 500d505bf6
2 changed files with 45 additions and 28 deletions
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60
lerobot/scripts/control_robot.py
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@@ -337,9 +337,6 @@ def record(
f"Your dataset name begins by 'eval_' ({dataset_name}) but no policy is provided ({policy})."
)
if not video:
raise NotImplementedError()
if not robot.is_connected:
robot.connect()
@@ -550,15 +547,23 @@ def record(
num_frames = frame_index
for key in image_keys:
tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
fname = f"{key}_episode_{episode_index:06d}.mp4"
video_path = local_dir / "videos" / fname
if video_path.exists():
video_path.unlink()
# Store the reference to the video frame, even tho the videos are not yet encoded
ep_dict[key] = []
for i in range(num_frames):
ep_dict[key].append({"path": f"videos/{fname}", "timestamp": i / fps})
if video:
tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
fname = f"{key}_episode_{episode_index:06d}.mp4"
video_path = local_dir / "videos" / fname
if video_path.exists():
video_path.unlink()
# Store the reference to the video frame, even tho the videos are not yet encoded
ep_dict[key] = []
for i in range(num_frames):
ep_dict[key].append({"path": f"videos/{fname}", "timestamp": i / fps})
else:
imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
ep_dict[key] = []
for frame_index in range(num_frames):
img_path = imgs_dir / f"frame_{frame_index:06d}.png"
ep_dict[key].append(img_path)
for key in not_image_keys:
ep_dict[key] = torch.stack(ep_dict[key])
@@ -622,21 +627,22 @@ def record(
num_episodes = episode_index
logging.info("Encoding videos")
say("Encoding videos")
# Use ffmpeg to convert frames stored as png into mp4 videos
for episode_index in tqdm.tqdm(range(num_episodes)):
for key in image_keys:
tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
fname = f"{key}_episode_{episode_index:06d}.mp4"
video_path = local_dir / "videos" / fname
if video_path.exists():
# Skip if video is already encoded. Could be the case when resuming data recording.
continue
# note: `encode_video_frames` is a blocking call. Making it asynchronous shouldn't speedup encoding,
# since video encoding with ffmpeg is already using multithreading.
encode_video_frames(tmp_imgs_dir, video_path, fps, overwrite=True)
shutil.rmtree(tmp_imgs_dir)
if video:
logging.info("Encoding videos")
say("Encoding videos")
# Use ffmpeg to convert frames stored as png into mp4 videos
for episode_index in tqdm.tqdm(range(num_episodes)):
for key in image_keys:
tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
fname = f"{key}_episode_{episode_index:06d}.mp4"
video_path = local_dir / "videos" / fname
if video_path.exists():
# Skip if video is already encoded. Could be the case when resuming data recording.
continue
# note: `encode_video_frames` is a blocking call. Making it asynchronous shouldn't speedup encoding,
# since video encoding with ffmpeg is already using multithreading.
encode_video_frames(tmp_imgs_dir, video_path, fps, overwrite=True)
shutil.rmtree(tmp_imgs_dir)
logging.info("Concatenating episodes")
ep_dicts = []