Skip to content

[Optimization] Reduce Rerun memory footprint via automatic image downsampling #2728

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wuxiaoqiang12 wants to merge 1 commit into
base: main
Choose a base branch
from
Open

[Optimization] Reduce Rerun memory footprint via automatic image downsampling #2728

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 11 additions & 0 deletions src/lerobot/utils/visualization_utils.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,10 @@ def log_rerun_data(
observation: An optional dictionary containing observation data to log.
action: An optional dictionary containing action data to log.
"""
max_width = os.getenv("LEROBOT_RERUN_MAX_IMAGE_WIDTH")
if max_width:
max_width = int(max_width)

if observation:
for k, v in observation.items():
if v is None:
Expand All @@ -75,6 +79,13 @@ def log_rerun_data(
for i, vi in enumerate(arr):
rr.log(f"{key}_{i}", rr.Scalars(float(vi)))
else:
if arr.ndim == 3:
h, w = arr.shape[:2]
if max_width and w > max_width:
import cv2
scale = max_width / w
new_h, new_w = int(h * scale), max_width
arr = cv2.resize(arr, (new_w, new_h), interpolation=cv2.INTER_AREA)
rr.log(key, rr.Image(arr), static=True)

if action:
Expand Down