diff --git a/ddlitlab2024/dataset/analyze_db.ipynb b/ddlitlab2024/dataset/analyze_db.ipynb new file mode 100644 index 0000000..273086e --- /dev/null +++ b/ddlitlab2024/dataset/analyze_db.ipynb @@ -0,0 +1,449 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Analyze database\n", + "This notebook is used to analyze the database ant its recordings." + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import sqlite3\n", + "from pathlib import Path\n", + "from typing import TypedDict\n", + "\n", + "from datetime import datetime\n", + "import matplotlib.pyplot as plt\n", + "import pandas as pd\n", + "\n", + "from ddlitlab2024 import DB_PATH" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "DB_PATH = Path(\"/srv/ssd_nvm/dataset/ddlitlab2024/db/robocup_2024_german_open_2025.sqlite3\") # TODO Remove me" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Analyzing /srv/ssd_nvm/dataset/ddlitlab2024/db/robocup_2024_german_open_2025.sqlite3\n" + ] + } + ], + "source": [ + "print(f\"Analyzing {DB_PATH}\")\n", + "\n", + "# Connect read-only to the SQLite database\n", + "conn = sqlite3.connect(f\"file:{DB_PATH}?mode=ro\", uri=True)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Gather metrics:\n", + "- Duration [s]\n", + "- Image samples\n", + "- Rotation samples\n", + "- Joint state samples\n", + "- Joint command samples\n", + "- Game state samples\n", + "- Total number of (previous) samples" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "class Metric(TypedDict):\n", + " name: str\n", + " duration_s: float\n", + " num_images: int\n", + " num_rotations: int\n", + " num_joint_states: int\n", + " num_joint_commands: int\n", + " num_game_states: int\n", + " num_messages: int" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [], + "source": [ + "# Iterate over all recordings in the database and gather metrics\n", + "def gather_metrics() -> pd.DataFrame:\n", + " # Get all recordings\n", + " recordings = conn.execute(\"SELECT _id, original_file, start_time, end_time FROM Recording\").fetchall()\n", + " metrics = []\n", + "\n", + " for recording in recordings:\n", + " recording_id = recording[0]\n", + "\n", + " duration_s = (datetime.fromisoformat(recording[3]) - datetime.fromisoformat(recording[2])).total_seconds()\n", + "\n", + " # Get the number of images\n", + " num_images = conn.execute(\n", + " \"SELECT COUNT(*) FROM Image WHERE recording_id = ?\", (recording_id,)\n", + " ).fetchone()[0]\n", + "\n", + " # Get the number of IMU messages\n", + " num_rotations = conn.execute(\n", + " \"SELECT COUNT(*) FROM Rotation WHERE recording_id = ?\", (recording_id,)\n", + " ).fetchone()[0]\n", + "\n", + " # Get the number of joint states\n", + " num_joint_states = conn.execute(\n", + " \"SELECT COUNT(*) FROM JointStates WHERE recording_id = ?\", (recording_id,)\n", + " ).fetchone()[0]\n", + "\n", + " # Get the number of joint commands\n", + " num_joint_commands = conn.execute(\n", + " \"SELECT COUNT(*) FROM JointCommands WHERE recording_id = ?\", (recording_id,)\n", + " ).fetchone()[0]\n", + "\n", + " # Get the number of game states\n", + " num_game_states = conn.execute(\n", + " \"SELECT COUNT(*) FROM GameState WHERE recording_id = ?\", (recording_id,)\n", + " ).fetchone()[0]\n", + "\n", + " # Get the number of messages\n", + " num_messages = num_images + num_rotations + num_joint_states + num_joint_commands + num_game_states\n", + " metrics.append(\n", + " Metric(\n", + " name=recording[1],\n", + " duration_s=duration_s,\n", + " num_images=num_images,\n", + " num_rotations=num_rotations,\n", + " num_joint_states=num_joint_states,\n", + " num_joint_commands=num_joint_commands,\n", + " num_game_states=num_game_states,\n", + " num_messages=num_messages,\n", + " )\n", + " )\n", + "\n", + " return pd.DataFrame(metrics)\n", + "\n", + "df = gather_metrics()" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "df.to_csv(\"metrics_db.csv\")" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "metadata": {}, + "outputs": [], + "source": [ + "df[\"duration_m\"] = df[\"duration_s\"] / 60" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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nameduration_snum_imagesnum_rotationsnum_joint_statesnum_joint_commandsnum_game_statesnum_messagesduration_m
80ID_donna_2025-03-16T13:50:58_0.mcap4598.72570945954229777229777229777628074156576.645428
59ID_rory_2025-03-16T14:02:56_0.mcap3791.52415737894189473189473189473505361136663.192069
27ID_rory_2024-07-19T17:45:15_0.mcap1903.96649218877943959439594395327330533531.732775
35ID_donna_2024-07-20T15:26:55_0.mcap1328.3080358127654436544365443246620692222.138467
82ID_rory_2025-03-13T10:53:00_0.mcap1290.53731612608630456304563045227120401421.508955
..............................
10ID_jack_2024-07-18T18:29:35_0.mcap54.1694003691852185218526659910.902823
57ID_jack_2024-07-20T15:47:38_0.mcap47.663031332167616761676853680.794384
12ID_jack_2024-07-18T18:42:01_0.mcap43.0442053091550155015505350120.717403
20ID_rory_2024-07-18T13:52:36_0.mcap39.8360622371191119111912738370.663934
40ID_jack_2024-07-19T18:01:33_0.mcap35.1461862001014101410143132730.585770
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88 rows × 9 columns

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" + ], + "text/plain": [ + " name duration_s num_images \\\n", + "80 ID_donna_2025-03-16T13:50:58_0.mcap 4598.725709 45954 \n", + "59 ID_rory_2025-03-16T14:02:56_0.mcap 3791.524157 37894 \n", + "27 ID_rory_2024-07-19T17:45:15_0.mcap 1903.966492 18877 \n", + "35 ID_donna_2024-07-20T15:26:55_0.mcap 1328.308035 8127 \n", + "82 ID_rory_2025-03-13T10:53:00_0.mcap 1290.537316 12608 \n", + ".. ... ... ... \n", + "10 ID_jack_2024-07-18T18:29:35_0.mcap 54.169400 369 \n", + "57 ID_jack_2024-07-20T15:47:38_0.mcap 47.663031 332 \n", + "12 ID_jack_2024-07-18T18:42:01_0.mcap 43.044205 309 \n", + "20 ID_rory_2024-07-18T13:52:36_0.mcap 39.836062 237 \n", + "40 ID_jack_2024-07-19T18:01:33_0.mcap 35.146186 200 \n", + "\n", + " num_rotations num_joint_states num_joint_commands num_game_states \\\n", + "80 229777 229777 229777 6280 \n", + "59 189473 189473 189473 5053 \n", + "27 94395 94395 94395 3273 \n", + "35 65443 65443 65443 2466 \n", + "82 63045 63045 63045 2271 \n", + ".. ... ... ... ... \n", + "10 1852 1852 1852 66 \n", + "57 1676 1676 1676 8 \n", + "12 1550 1550 1550 53 \n", + "20 1191 1191 1191 27 \n", + "40 1014 1014 1014 31 \n", + "\n", + " num_messages duration_m \n", + "80 741565 76.645428 \n", + "59 611366 63.192069 \n", + "27 305335 31.732775 \n", + "35 206922 22.138467 \n", + "82 204014 21.508955 \n", + ".. ... ... \n", + "10 5991 0.902823 \n", + "57 5368 0.794384 \n", + "12 5012 0.717403 \n", + "20 3837 0.663934 \n", + "40 3273 0.585770 \n", + "\n", + "[88 rows x 9 columns]" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "df = df.sort_values(by=\"duration_s\", ascending=False)\n", + "df" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "duration_s & 35.15 & 619.25±665.74 & 4598.73 & 54493.99\\\\\n", + "num_images & 200 & 5952±6638 & 45954 & 523819\\\\\n", + "num_rotations & 1014 & 30147±33378 & 229777 & 2652975\\\\\n", + "num_joint_states & 1014 & 30147±33378 & 229777 & 2652975\\\\\n", + "num_joint_commands & 1014 & 30147±33378 & 229777 & 2652975\\\\\n", + "num_game_states & 1 & 939±1001 & 6280 & 82638\\\\\n", + "num_messages & 3273 & 97334±107712 & 741565 & 8565382\\\\\n", + "duration_m & 0.59 & 10.32±11.10 & 76.65 & 908.23\\\\\n" + ] + } + ], + "source": [ + "# Print latex for each column\n", + "for column in df.columns:\n", + " if column == \"name\":\n", + " continue\n", + " if column in [\"duration_s\", \"duration_m\"]:\n", + " print(f\"{column} & {df[column].min():.2f} & {df[column].mean():.2f}±{df[column].std():.2f} & {df[column].max():.2f} & {df[column].sum():.2f}\\\\\\\\\")\n", + " else:\n", + " print(f\"{column} & {df[column].min():.0f} & {df[column].mean():.0f}±{df[column].std():.0f} & {df[column].max():.0f} & {df[column].sum():.0f}\\\\\\\\\")" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "ddlitlab2024-bN9lk4bc-py3.10", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/ddlitlab2024/dataset/analyze_raw_data.ipynb b/ddlitlab2024/dataset/analyze_raw_data.ipynb new file mode 100644 index 0000000..87f9992 --- /dev/null +++ b/ddlitlab2024/dataset/analyze_raw_data.ipynb @@ -0,0 +1,351 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Analyze raw data\n", + "This notebook is used to analyze the ROS 2 Bags that were used to create the given database." + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import sqlite3\n", + "from concurrent.futures import ThreadPoolExecutor\n", + "from contextlib import contextmanager\n", + "from datetime import datetime, timedelta\n", + "from pathlib import Path\n", + "from typing import TypedDict\n", + "\n", + "import pandas as pd\n", + "from mcap.reader import make_reader\n", + "from mcap.summary import Summary\n", + "from mcap_ros2.decoder import DecoderFactory\n", + "\n", + "from ddlitlab2024 import DB_PATH" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "BASE_DIR = Path(\"/srv/rosbags\") # Same as https://data.bit-bots.de/ROSbags/" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "DB_PATH = Path(\"/srv/ssd_nvm/dataset/ddlitlab2024/db/robocup_2024_german_open_2025.sqlite3\") # TODO Remove me" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "# Connect read-only to the SQLite database\n", + "conn = sqlite3.connect(f\"file:{DB_PATH}?mode=ro\", uri=True)" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [], + "source": [ + "# Get mcaps used by the database\n", + "query = \"\"\"\n", + "SELECT original_file FROM Recording;\n", + "\"\"\"\n", + "files = pd.DataFrame()\n", + "files[\"mcap_file_name\"] = pd.read_sql_query(query, conn)" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "# Find the full file paths recursively contained in the following directory\n", + "def find_file(file_name):\n", + " candidates = []\n", + " for path in BASE_DIR.rglob(file_name):\n", + " candidates.append(path)\n", + " match len(candidates):\n", + " case 0:\n", + " print(f\"File {file_name} not found\")\n", + " return None\n", + " case 1:\n", + " return candidates[0]\n", + " case 2:\n", + " # Use the \"untrimmed\" version of the file if it exists\n", + " for candidate in candidates:\n", + " if \"untrimmed\" in str(candidate):\n", + " return candidate\n", + " print(f\"File {file_name} found multiple times: {candidates}\")\n", + " return None\n", + " case _:\n", + " print(f\"File {file_name} found multiple times: {candidates}\")\n", + " return None\n", + "\n", + "\n", + "# Find the full file paths for each mcap file\n", + "files[\"mcap_file_path\"] = files[\"mcap_file_name\"].apply(find_file)\n", + "assert files[\"mcap_file_path\"].notnull().all(), \"Some mcap files were not found\"" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Gather metrics:\n", + "- Amount [B]\n", + "- Duration [s]\n", + "- Image messages\n", + "- IMU messages\n", + "- Joint state messages\n", + "- Joint command messages\n", + "- Game state messages\n", + "- Total number of (previous) messages" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [], + "source": [ + "# Preparations\n", + "\n", + "\n", + "class Metric(TypedDict):\n", + " mcap_file_name: str\n", + " mcap_file_path: Path\n", + " mcap_file_size_B: int\n", + " duration_s: float\n", + " num_images: int\n", + " num_imu: int\n", + " num_joint_states: int\n", + " num_joint_commands: int\n", + " num_game_states: int\n", + " num_messages: int\n", + "\n", + "\n", + "@contextmanager\n", + "def _mcap_reader(mcap_file_path: Path):\n", + " with open(mcap_file_path, \"rb\") as f:\n", + " yield make_reader(f, decoder_factories=[DecoderFactory()])\n", + "\n", + "\n", + "def duration(summary: Summary) -> timedelta:\n", + " first_msg_start_time = None\n", + " last_msg_end_time = None\n", + "\n", + " for chunk_index in summary.chunk_indexes:\n", + " if first_msg_start_time is None or chunk_index.message_start_time < first_msg_start_time:\n", + " first_msg_start_time = chunk_index.message_start_time\n", + " if last_msg_end_time is None or chunk_index.message_end_time > last_msg_end_time:\n", + " last_msg_end_time = chunk_index.message_end_time\n", + "\n", + " assert first_msg_start_time is not None, \"No start time found in the MCAP file\"\n", + " assert last_msg_end_time is not None, \"No end time found in the MCAP file\"\n", + "\n", + " return datetime.fromtimestamp(last_msg_end_time / 1e9) - datetime.fromtimestamp(first_msg_start_time / 1e9)\n", + "\n", + "\n", + "USED_TOPICS = [\n", + " \"/DynamixelController/command\",\n", + " \"/camera/image_proc\",\n", + " \"/camera/image_to_record\",\n", + " \"/gamestate\",\n", + " \"/imu/data\",\n", + " \"/joint_states\",\n", + " \"/tf\",\n", + "]" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T16:30:37/ID_donna_2024-07-19T16:30:37_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T11:31:28/ID_jack_2024-07-19T11:31:28_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-17T15:38:04/ID_jack_2024-07-17T15:38:04_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-18T13:29:30/ID_rory_2024-07-18T13:29:30_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T11:48:16/ID_donna_2024-07-19T11:48:16_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-18T13:54:46/ID_rory_2024-07-18T13:54:46_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-20T11:08:32/ID_jack_2024-07-20T11:08:32_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T09:50:25/ID_jack_2024-07-19T09:50:25_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T17:27:57/ID_jack_2024-07-19T17:27:57_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T18:29:22/ID_donna_2024-07-18T18:29:22_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T18:29:35/ID_jack_2024-07-18T18:29:35_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T18:31:02/ID_donna_2024-07-18T18:31:02_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T18:42:01/ID_jack_2024-07-18T18:42:01_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T16:17:13/ID_donna_2024-07-19T16:17:13_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T11:30:19/ID_donna_2024-07-19T11:30:19_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T17:58:04/ID_jack_2024-07-19T17:58:04_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T19:28:32/ID_donna_2024-07-18T19:28:32_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T18:47:57/ID_jack_2024-07-18T18:47:57_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-20T15:56:08/ID_jack_2024-07-20T15:56:08_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-20T15:27:30/ID_rory_2024-07-20T15:27:30_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-18T13:52:36/ID_rory_2024-07-18T13:52:36_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T18:38:45/ID_jack_2024-07-18T18:38:45_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T18:47:16/ID_donna_2024-07-18T18_47_16_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-20T15:45:49/ID_rory_2024-07-20T15:45:49_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-20T15:34:27/ID_rory_2024-07-20T15:34:27_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_amy_2024-07-18T10:26:27/ID_amy_2024-07-18T10:26:27_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T11:47:41/ID_jack_2024-07-19T11:47:41_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-19T17:45:15/ID_rory_2024-07-19T17:45:15_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T19:48:52/ID_donna_2024-07-18T19:48:52_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T17:11:35/ID_donna_2024-07-19T17:11:35_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-19T17:27:54/ID_rory_2024-07-19T17:27:54_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T11:29:50/ID_jack_2024-07-19T11:29:50_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T15:29:51/ID_donna_2024-07-18T15:29:51_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T17:05:54/ID_donna_2024-07-19T17:05:54_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-20T15:27:14/ID_jack_2024-07-20T15:27:14_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-20T15:26:55/ID_donna_2024-07-20T15:26:55_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T19:56:19/ID_jack_2024-07-18T19:56:19_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-18T10:50:54/ID_rory_2024-07-18T10:50:54_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-20T15:49:20/ID_donna_2024-07-20T15:49:20_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T17:45:13/ID_donna_2024-07-19T17:45:13_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T18:01:33/ID_jack_2024-07-19T18:01:33_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T15:21:13/ID_donna_2024-07-18T15:21:13_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-20T11:19:40/ID_jack_2024-07-20T11:19:40_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-17T18:34:41/ID_jack_2024-07-17T18:34:41_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T19:51:25/ID_jack_2024-07-18T19:51:25_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_amy_2024-07-18T10:32:52/ID_amy_2024-07-18T10:32:52_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-17T15:35:46/ID_jack_2024-07-17T15:35:46_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-20T15:48:43/ID_jack_2024-07-20T15:48:43_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T17:35:46/ID_donna_2024-07-19T17:35:46_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-19T18:00:20/ID_donna_2024-07-19T18:00:20_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T19:28:29/ID_jack_2024-07-18T19:28:29_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T19:46:13/ID_jack_2024-07-18T19:46:13_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T19:38:20/ID_jack_2024-07-18T19:38:20_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-17T19:16:57/ID_rory_2024-07-17T19:16:57_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_donna_2024-07-18T15:00:02/ID_donna_2024-07-18T15:00:02_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-18T18:31:03/ID_jack_2024-07-18T18:31:03_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_rory_2024-07-20T15:40:46/ID_rory_2024-07-20T15:40:46_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-20T15:47:38/ID_jack_2024-07-20T15:47:38_0.mcap\n", + "Processing /srv/rosbags/robocup_2024/ID_jack_2024-07-19T17:46:07/ID_jack_2024-07-19T17:46:07_0.mcap\n", + "Processing /srv/rosbags/german_open_2025/original_untrimmed/ID_rory_2025-03-16T14:02:56/ID_rory_2025-03-16T14:02:56_0.mcap\n" + ] + } + ], + "source": [ + "def get_metrics(file_path: Path) -> Metric:\n", + " with _mcap_reader(file_path) as reader:\n", + " summary = reader.get_summary()\n", + " assert summary is not None, \"Summary is None\"\n", + "\n", + " has_imu_data = any(channel.topic == \"/imu/data\" for channel in summary.channels.values())\n", + "\n", + " metric: Metric = {\n", + " \"mcap_file_name\": file_path.name,\n", + " \"mcap_file_path\": file_path,\n", + " \"mcap_file_size_B\": file_path.stat().st_size,\n", + " \"duration_s\": duration(summary).total_seconds(),\n", + " \"num_images\": 0,\n", + " \"num_imu\": 0,\n", + " \"num_joint_states\": 0,\n", + " \"num_joint_commands\": 0,\n", + " \"num_game_states\": 0,\n", + " \"num_messages\": 0,\n", + " }\n", + "\n", + " for _, channel, _, ros_msg in reader.iter_decoded_messages(topics=USED_TOPICS):\n", + " match channel.topic:\n", + " case \"/camera/image_proc\":\n", + " metric[\"num_images\"] += 1\n", + " case \"/imu/data\" if has_imu_data:\n", + " metric[\"num_imu\"] += 1\n", + " case \"/joint_states\":\n", + " metric[\"num_joint_states\"] += 1\n", + " case \"/DynamixelController/command\":\n", + " metric[\"num_joint_commands\"] += 1\n", + " case \"/gamestate\":\n", + " metric[\"num_game_states\"] += 1\n", + " case \"/tf\" if not has_imu_data:\n", + " for tf_msg in ros_msg.transforms:\n", + " if tf_msg.child_frame_id == \"base_footprint\" and tf_msg.header.frame_id == \"base_link\":\n", + " metric[\"num_imu\"] += 1\n", + " case _:\n", + " pass\n", + "\n", + " metric[\"num_messages\"] = (\n", + " metric[\"num_images\"]\n", + " + metric[\"num_imu\"]\n", + " + metric[\"num_joint_states\"]\n", + " + metric[\"num_joint_commands\"]\n", + " + metric[\"num_game_states\"]\n", + " )\n", + "\n", + " return metric\n", + "\n", + "\n", + "# Get the metrics for each mcap file in parallel\n", + "def get_metrics_for_all_files():\n", + " metrics = []\n", + "\n", + " def process_file(row):\n", + " file_path = row[\"mcap_file_path\"]\n", + " print(f\"Processing {file_path}\")\n", + " metric = get_metrics(file_path)\n", + " return metric\n", + "\n", + " with ThreadPoolExecutor() as executor:\n", + " metrics = list(executor.map(process_file, [row for _, row in files.iterrows()]))\n", + "\n", + " return pd.DataFrame(metrics)\n", + "\n", + "\n", + "df = get_metrics_for_all_files()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "df" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "ddlitlab2024-bN9lk4bc-py3.10", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/poetry.lock b/poetry.lock index cf282b6..236da53 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 2.1.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.5 and should not be changed by hand. 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-groups = ["main"] files = [ {file = "opencv-python-4.11.0.86.tar.gz", hash = "sha256:03d60ccae62304860d232272e4a4fda93c39d595780cb40b161b310244b736a4"}, {file = "opencv_python-4.11.0.86-cp37-abi3-macosx_13_0_arm64.whl", hash = "sha256:432f67c223f1dc2824f5e73cdfcd9db0efc8710647d4e813012195dc9122a52a"}, @@ -1466,10 +1656,10 @@ files = [ [package.dependencies] numpy = [ - {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""}, - {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""}, - {version = ">=1.23.5", markers = "python_version >= \"3.11\""}, {version = ">=1.26.0", markers = "python_version >= \"3.12\""}, + {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""}, + {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\" and python_version < \"3.11\""}, + {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\" and python_version < \"3.11\""}, ] [[package]] @@ -1478,7 +1668,6 @@ version = "24.2" description = "Core utilities for Python packages" optional = false python-versions = ">=3.8" -groups = ["main", "test"] files = [ {file = "packaging-24.2-py3-none-any.whl", hash = "sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759"}, {file = "packaging-24.2.tar.gz", hash = "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f"}, @@ -1490,7 +1679,6 @@ version = "2.2.3" description = "Powerful data structures for data analysis, time series, and statistics" optional = false python-versions = ">=3.9" -groups = ["main"] files = [ {file = "pandas-2.2.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1948ddde24197a0f7add2bdc4ca83bf2b1ef84a1bc8ccffd95eda17fd836ecb5"}, {file = "pandas-2.2.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:381175499d3802cde0eabbaf6324cce0c4f5d52ca6f8c377c29ad442f50f6348"}, @@ -1538,9 +1726,9 @@ files = [ 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@@ -1819,7 +2065,6 @@ version = "2.33.1" description = "Core functionality for Pydantic validation and serialization" optional = false python-versions = ">=3.9" -groups = ["main"] files = [ {file = "pydantic_core-2.33.1-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:3077cfdb6125cc8dab61b155fdd714663e401f0e6883f9632118ec12cf42df26"}, {file = "pydantic_core-2.33.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:8ffab8b2908d152e74862d276cf5017c81a2f3719f14e8e3e8d6b83fda863927"}, @@ -1931,7 +2176,6 @@ version = "2.19.1" description = "Pygments is a syntax highlighting package written in Python." optional = false python-versions = ">=3.8" -groups = ["main"] files = [ {file = "pygments-2.19.1-py3-none-any.whl", hash = "sha256:9ea1544ad55cecf4b8242fab6dd35a93bbce657034b0611ee383099054ab6d8c"}, {file = "pygments-2.19.1.tar.gz", hash = "sha256:61c16d2a8576dc0649d9f39e089b5f02bcd27fba10d8fb4dcc28173f7a45151f"}, @@ -1946,7 +2190,6 @@ version = "3.2.3" description = "pyparsing module - 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">=3.9" -groups = ["main"] files = [ {file = "zipp-3.21.0-py3-none-any.whl", hash = "sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931"}, {file = "zipp-3.21.0.tar.gz", hash = "sha256:2c9958f6430a2040341a52eb608ed6dd93ef4392e02ffe219417c1b28b5dd1f4"}, ] [package.extras] -check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1) ; sys_platform != \"cygwin\""] +check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"] cover = ["pytest-cov"] doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] enabler = ["pytest-enabler (>=2.2)"] -test = ["big-O", "importlib-resources ; python_version < \"3.9\"", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"] +test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"] type = ["pytest-mypy"] [[package]] @@ -3056,7 +3459,6 @@ version = "0.23.0" description = "Zstandard bindings for Python" optional = false python-versions = ">=3.8" -groups = ["main"] files = [ {file = "zstandard-0.23.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:bf0a05b6059c0528477fba9054d09179beb63744355cab9f38059548fedd46a9"}, {file = "zstandard-0.23.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:fc9ca1c9718cb3b06634c7c8dec57d24e9438b2aa9a0f02b8bb36bf478538880"}, @@ -3164,6 +3566,6 @@ cffi = {version = ">=1.11", markers = "platform_python_implementation == \"PyPy\ cffi = ["cffi (>=1.11)"] [metadata] -lock-version = "2.1" +lock-version = "2.0" python-versions = "^3.10" -content-hash = "683fdebe52227977bb876e41aec9443743e4033ad7ef404db1e5ed2c544ad4fb" +content-hash = "4e4c26cf7c2c0d89bd3e741f04690d005220f600a129cdc6c5898865ae06054c" diff --git a/pyproject.toml b/pyproject.toml index 8accdb2..8e56276 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -36,6 +36,7 @@ torchvision = "^0.21.0" [tool.poetry.group.dev.dependencies] ruff = "^0.8.0" +ipykernel = "^6.29.5" [tool.poetry.group.test.dependencies] pytest = "^8.3.3"