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# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved.
#
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
import cv2
import imageio
import numpy as np
class VideoRecorder:
def __init__(self, root_dir, render_size=256, fps=20):
if root_dir is not None:
self.save_dir = root_dir / 'eval_video'
self.save_dir.mkdir(exist_ok=True)
else:
self.save_dir = None
self.render_size = render_size
self.fps = fps
self.frames = []
def init(self, env, enabled=True):
self.frames = []
self.enabled = self.save_dir is not None and enabled
self.record(env)
def record(self, env):
if self.enabled:
if hasattr(env, 'physics'):
frame = env.physics.render(height=self.render_size,
width=self.render_size,
camera_id=0)
else:
frame = env.render()
self.frames.append(frame)
def save(self, file_name):
if self.enabled:
path = self.save_dir / file_name
imageio.mimsave(str(path), self.frames, fps=self.fps)
class TrainVideoRecorder:
def __init__(self, root_dir, render_size=256, fps=20):
if root_dir is not None:
self.save_dir = root_dir / 'train_video'
self.save_dir.mkdir(exist_ok=True)
else:
self.save_dir = None
self.render_size = render_size
self.fps = fps
self.frames = []
def init(self, obs, enabled=True):
self.frames = []
self.enabled = self.save_dir is not None and enabled
self.record(obs)
def record(self, obs):
if self.enabled:
frame = cv2.resize(obs[-3:].transpose(1, 2, 0),
dsize=(self.render_size, self.render_size),
interpolation=cv2.INTER_CUBIC)
self.frames.append(frame)
def save(self, file_name):
if self.enabled:
path = self.save_dir / file_name
imageio.mimsave(str(path), self.frames, fps=self.fps)
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