small adjustment
This commit is contained in:
Remi Cadene
parent
49e1fa708a
commit
0e097e7538
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@ -58,7 +58,6 @@ import logging
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import os
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import shutil
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import socketserver
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from http.server import HTTPServer, SimpleHTTPRequestHandler
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from pathlib import Path
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import tqdm
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@ -80,9 +79,6 @@ def run_server(path, port):
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# Change directory to serve 'index.html` as front page
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os.chdir(path)
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server_address = ("", port)
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httpd = HTTPServer(server_address, SimpleHTTPRequestHandler)
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with socketserver.TCPServer(("", port), NoCacheHTTPRequestHandler) as httpd:
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logging.info(f"Serving HTTP on 0.0.0.0 port {port} (http://0.0.0.0:{port}/) ...")
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httpd.serve_forever()
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@ -171,8 +167,12 @@ def write_episode_data_js(output_dir, file_name, ep_csv_fname, dataset):
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s += f" const video{i} = document.getElementById('video_{key}');\n"
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s += " const slider = document.getElementById('videoControl');\n"
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s += " const playButton = document.getElementById('playButton');\n"
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s += f" const dygraph = new Dygraph(document.getElementById('graphdiv'), '{ep_csv_fname}', " + "{\n"
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s += " pixelsPerPoint: 0.01\n"
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s += f" const dygraph = new Dygraph(document.getElementById('graph'), '{ep_csv_fname}', " + "{\n"
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s += " pixelsPerPoint: 0.01,\n"
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s += " legend: 'always',\n"
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s += " labelsDiv: document.getElementById('labels'),\n"
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s += " labelsSeparateLines: true,\n"
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s += " labelsKMB: true\n"
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s += " });\n"
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s += "\n"
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s += " // Function to play both videos\n"
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@ -217,8 +217,13 @@ def write_episode_data_html(output_dir, file_name, js_fname, ep_index, dataset):
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"""Write an html file containg video feeds and timeseries associated to an episode."""
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soup, body = create_html_page("")
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main_div = soup.new_tag("div")
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body.append(main_div)
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# Add videos from camera feeds
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videos_control_div = soup.new_tag("div")
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body.append(videos_control_div)
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videos_div = soup.new_tag("div")
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videos_control_div.append(videos_div)
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def create_video(id, src):
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video = soup.new_tag("video", id=id, width="320", height="240", controls="")
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@ -231,25 +236,40 @@ def write_episode_data_html(output_dir, file_name, js_fname, ep_index, dataset):
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first_frame_idx = dataset.episode_data_index["from"][ep_index].item()
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for key in dataset.video_frame_keys:
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# Example of video_path: '../videos/observation.image_episode_000004.mp4'
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video_path = Path("..") / dataset.hf_dataset.select_columns(key)[first_frame_idx][key]["path"]
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main_div.append(create_video(f"video_{key}", video_path))
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# Example of video_path: 'videos/observation.image_episode_000004.mp4'
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video_path = dataset.hf_dataset.select_columns(key)[first_frame_idx][key]["path"]
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videos_div.append(create_video(f"video_{key}", video_path))
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# Add controls for videos and graph
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control_div = soup.new_tag("div")
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body.append(control_div)
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videos_control_div.append(control_div)
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graph_div = soup.new_tag("div", id="graphdiv", style="width: 600px; height: 300px;")
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body.append(graph_div)
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button_div = soup.new_tag("div")
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control_div.append(button_div)
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button = soup.new_tag("button", id="playButton")
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button.string = "Play Videos"
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control_div.append(button)
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button_div.append(button)
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range_input = soup.new_tag(
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"input", type="range", id="videoControl", min="0", max="100", value="0", step="1"
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)
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control_div.append(range_input)
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slider_div = soup.new_tag("div")
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control_div.append(slider_div)
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slider = soup.new_tag("input", type="range", id="videoControl", min="0", max="100", value="0", step="1")
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control_div.append(slider)
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# Add graph of states/actions, and its labels
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graph_labels_div = soup.new_tag("div", style="display: flex;")
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body.append(graph_labels_div)
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graph_div = soup.new_tag("div", id="graph", style="flex: 1; width: 85%")
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graph_labels_div.append(graph_div)
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labels_div = soup.new_tag("div", id="labels", style="flex: 1; width: 15%")
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graph_labels_div.append(labels_div)
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# add dygraph library
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script = soup.new_tag("script", type="text/javascript", src=js_fname)
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body.append(script)
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@ -265,6 +285,8 @@ def write_episode_data_html(output_dir, file_name, js_fname, ep_index, dataset):
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)
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body.append(link_dygraph)
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# Write as a html file
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output_dir.mkdir(parents=True, exist_ok=True)
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with open(output_dir / file_name, "w", encoding="utf-8") as f:
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f.write(soup.prettify())
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@ -320,7 +342,7 @@ def visualize_dataset(
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episode_indices: list[int] = None,
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output_dir: Path | None = None,
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serve: bool = True,
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web_port: int = 9090,
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port: int = 9090,
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) -> Path | None:
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init_logging()
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@ -364,7 +386,7 @@ def visualize_dataset(
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write_episodes_list_html(output_dir, "index.html", episode_indices, ep_html_fnames, dataset)
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if serve:
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run_server(output_dir, web_port)
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run_server(output_dir, port)
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def main():
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@ -396,7 +418,7 @@ def main():
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help="Launch web server.",
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)
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parser.add_argument(
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"--web-port",
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"--port",
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type=int,
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default=9090,
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help="Web port used by the http server.",
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