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read compressed images from hdf5 datasets #1

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read compressed images from hdf5 datasets #1

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12 changes: 11 additions & 1 deletion utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
from scipy.spatial.transform import Rotation
import glob
import random
import io
from PIL import Image

def euler_to_r6(euler, degrees=False):
rot_mat = Rotation.from_euler("xyz", euler, degrees=degrees).as_matrix()
Expand Down Expand Up @@ -82,7 +84,15 @@ def __getitem__(self, index):
# new axis for different cameras
all_cam_images = []
for cam_name in self.camera_names:
all_cam_images.append(image_dict[cam_name])
image = image_dict[cam_name]
if isinstance(image, np.bytes_): # if image is compressed JPEG string
jpg_bytes = io.BytesIO(image)
image = Image.open(jpg_bytes)
image = np.array(image)
all_cam_images.append(image)
else:
all_cam_images.append(image)

all_cam_images = np.stack(all_cam_images, axis=0)

# construct observations
Expand Down