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show camera frames with example 3 #30

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mark-neuracore merged 1 commit into from
Feb 19, 2026
Merged

show camera frames with example 3 #30

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25 changes: 20 additions & 5 deletions examples/3_replay_neuracore_episodes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,10 @@
from pathlib import Path
from typing import cast

import cv2
import neuracore as nc
import numpy as np
from common.configs import (
CAMERA_LOGGING_NAME,
GRIPPER_LOGGING_NAME,
JOINT_NAMES,
NEUTRAL_JOINT_ANGLES,
Expand Down Expand Up @@ -117,7 +117,7 @@ def main() -> None:
episode = synced_dataset[episode_idx]

print(f"\n🚀 Collecting episode {episode_idx} data...")
rgb_images = []
rgb_frames_per_step: list[dict[str, np.ndarray]] = []
parallel_gripper_open_amounts = []
joint_positions = []
for step in tqdm(episode, desc=f"Collecting episode {episode_idx}"):
Expand All @@ -144,11 +144,13 @@ def main() -> None:
gripper_value = gripper_data[GRIPPER_LOGGING_NAME].open_amount
parallel_gripper_open_amounts.append(gripper_value)

# Extract RGB image (just store first one for compatibility)
# Extract RGB for all cameras
step_frames: dict[str, np.ndarray] = {}
if DataType.RGB_IMAGES in step.data:
rgb_data = step.data[DataType.RGB_IMAGES]
if CAMERA_LOGGING_NAME in rgb_data:
rgb_images.append(rgb_data[CAMERA_LOGGING_NAME].frame)
for camera_name, img_value in rgb_data.items():
step_frames[camera_name] = img_value.frame
rgb_frames_per_step.append(step_frames)

joint_positions = np.degrees(np.array(joint_positions))
parallel_gripper_open_amounts = np.array(parallel_gripper_open_amounts)
Expand All @@ -162,8 +164,20 @@ def main() -> None:
robot_controller.set_gripper_open_value(
parallel_gripper_open_amounts[index]
)

# Display camera frames (dataset stores RGB; OpenCV expects BGR)
if index < len(rgb_frames_per_step):
for camera_name, frame_rgb in rgb_frames_per_step[index].items():
arr = np.asarray(frame_rgb, dtype=np.uint8)
frame_bgr = cv2.cvtColor(arr, cv2.COLOR_RGB2BGR)
cv2.imshow(f"Replay: {camera_name}", frame_bgr)
if cv2.waitKey(1) & 0xFF == ord("q"):
print("\n🛑 'q' pressed, stopping replay...")
break

end_time = time.time()
time.sleep(max(0, 1 / args.frequency - (end_time - start_time)))
cv2.destroyAllWindows()
print(f"🎉 Episode {episode_idx} replay completed.")

if args.episode_index == -1:
Expand All @@ -172,6 +186,7 @@ def main() -> None:
print(f"{'='*60}")
except KeyboardInterrupt:
print("\n🛑 Keyboard interrupt detected, stopping robot control loop...")
cv2.destroyAllWindows()

robot_controller.stop_control_loop()
robot_controller.cleanup()
Expand Down