| """Monkeypatch lerobot's video decoder to read frames from the npy cache built by cache_videos.py. |
| Activated by importing this module (sitecustomize does it when ISR_MEMDECODE=1). Frame index = round(ts * fps).""" |
| import os, torch, numpy as np |
| _cache = {}; _fps = {} |
| def _load(path): |
| p = str(path); a = _cache.get(p) |
| if a is None: |
| parts = p.split("/"); arm = parts[parts.index("datasets") + 1]; key, chunk, f = parts[-3], parts[-2], parts[-1][:-4] |
| a = np.load(f"/workspace/isr/cache/{arm}/{key}/{chunk}_{f}.npy", mmap_mode="r"); _cache[p] = a |
| import json; _fps[p] = json.load(open(f"/workspace/isr/datasets/{arm}/meta/info.json"))["fps"] |
| return a |
| def decode_video_frames(video_path, timestamps, tolerance_s, backend=None, return_uint8=False, is_depth=False): |
| a = _load(video_path); idx = np.clip(np.round(np.asarray(timestamps) * _fps[str(video_path)]).astype(int), 0, len(a) - 1) |
| fr = torch.from_numpy(np.ascontiguousarray(a[idx])).permute(0, 3, 1, 2) |
| return fr if return_uint8 else fr.float() / 255.0 |
| import lerobot.datasets.dataset_reader as _r |
| _r.decode_video_frames = decode_video_frames |
|
|
