Add auto_downsample_height_width

lerobot/common/datasets/compute_stats.py

@@ -43,16 +43,32 @@ def sample_indices(data_len: int) -> list[int]:
     return np.round(np.linspace(0, data_len - 1, num_samples)).astype(int).tolist()
 
 
+def auto_downsample_height_width(img: np.ndarray, target_size: int = 150, max_size_threshold: int = 300):
+    _, height, width = img.shape
+
+    if max(width, height) < max_size_threshold:
+        # no downsampling needed
+        return img
+
+    downsample_factor = int(width / target_size) if width > height else int(height / target_size)
+    return img[:, ::downsample_factor, ::downsample_factor]
+
+
 def sample_images(image_paths: list[str]) -> np.ndarray:
     sampled_indices = sample_indices(len(image_paths))
-    images = []
+
-    for idx in sampled_indices:
+    images = None
+    for i, idx in enumerate(sampled_indices):
         path = image_paths[idx]
         # we load as uint8 to reduce memory usage
         img = load_image_as_numpy(path, dtype=np.uint8, channel_first=True)
-        images.append(img)
+        img = auto_downsample_height_width(img)
+
+        if images is None:
+            images = np.empty((len(sampled_indices), *img.shape), dtype=np.uint8)
+
+        images[i] = img
 
-    images = np.stack(images)
     return images