benchmarks/video/run_video_benchmark.py

#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Assess the performance of video decoding in various configurations.

This script will benchmark different video encoding and decoding parameters.
See the provided README.md or run `python benchmark/video/run_video_benchmark.py --help` for usage info.
"""

import argparse
import datetime as dt
import random
import shutil
from collections import OrderedDict
from concurrent.futures import ThreadPoolExecutor, as_completed
from pathlib import Path

import einops
import numpy as np
import pandas as pd
import PIL
import torch
from skimage.metrics import mean_squared_error, peak_signal_noise_ratio, structural_similarity
from tqdm import tqdm

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.datasets.video_utils import (
    decode_video_frames_torchvision,
    encode_video_frames,
)
from lerobot.common.utils.benchmark import TimeBenchmark

BASE_ENCODING = OrderedDict(
    [
        ("vcodec", "libx264"),
        ("pix_fmt", "yuv444p"),
        ("g", 2),
        ("crf", None),
        # TODO(aliberts): Add fastdecode
        # ("fastdecode", 0),
    ]
)


# TODO(rcadene, aliberts): move to `utils.py` folder when we want to refactor
def parse_int_or_none(value) -> int | None:
    if value.lower() == "none":
        return None
    try:
        return int(value)
    except ValueError as e:
        raise argparse.ArgumentTypeError(f"Invalid int or None: {value}") from e


def check_datasets_formats(repo_ids: list) -> None:
    for repo_id in repo_ids:
        dataset = LeRobotDataset(repo_id)
        if len(dataset.meta.video_keys) > 0:
            raise ValueError(
                f"Use only image dataset for running this benchmark. Video dataset provided: {repo_id}"
            )


def get_directory_size(directory: Path) -> int:
    total_size = 0
    for item in directory.rglob("*"):
        if item.is_file():
            total_size += item.stat().st_size
    return total_size


def load_original_frames(imgs_dir: Path, timestamps: list[float], fps: int) -> torch.Tensor:
    frames = []
    for ts in timestamps:
        idx = int(ts * fps)
        frame = PIL.Image.open(imgs_dir / f"frame_{idx:06d}.png")
        frame = torch.from_numpy(np.array(frame))
        frame = frame.type(torch.float32) / 255
        frame = einops.rearrange(frame, "h w c -> c h w")
        frames.append(frame)
    return torch.stack(frames)


def save_decoded_frames(
    imgs_dir: Path, save_dir: Path, frames: torch.Tensor, timestamps: list[float], fps: int
) -> None:
    if save_dir.exists() and len(list(save_dir.glob("frame_*.png"))) == len(timestamps):
        return

    save_dir.mkdir(parents=True, exist_ok=True)
    for i, ts in enumerate(timestamps):
        idx = int(ts * fps)
        frame_hwc = (frames[i].permute((1, 2, 0)) * 255).type(torch.uint8).cpu().numpy()
        PIL.Image.fromarray(frame_hwc).save(save_dir / f"frame_{idx:06d}_decoded.png")
        shutil.copyfile(imgs_dir / f"frame_{idx:06d}.png", save_dir / f"frame_{idx:06d}_original.png")


def save_first_episode(imgs_dir: Path, dataset: LeRobotDataset) -> None:
    ep_num_images = dataset.episode_data_index["to"][0].item()
    if imgs_dir.exists() and len(list(imgs_dir.glob("frame_*.png"))) == ep_num_images:
        return

    imgs_dir.mkdir(parents=True, exist_ok=True)
    hf_dataset = dataset.hf_dataset.with_format(None)

    # We only save images from the first camera
    img_keys = [key for key in hf_dataset.features if key.startswith("observation.image")]
    imgs_dataset = hf_dataset.select_columns(img_keys[0])

    for i, item in enumerate(
        tqdm(imgs_dataset, desc=f"saving {dataset.repo_id} first episode images", leave=False)
    ):
        img = item[img_keys[0]]
        img.save(str(imgs_dir / f"frame_{i:06d}.png"), quality=100)

        if i >= ep_num_images - 1:
            break


def sample_timestamps(timestamps_mode: str, ep_num_images: int, fps: int) -> list[float]:
    # Start at 5 to allow for 2_frames_4_space and 6_frames
    idx = random.randint(5, ep_num_images - 1)
    match timestamps_mode:
        case "1_frame":
            frame_indexes = [idx]
        case "2_frames":
            frame_indexes = [idx - 1, idx]
        case "2_frames_4_space":
            frame_indexes = [idx - 5, idx]
        case "6_frames":
            frame_indexes = [idx - i for i in range(6)][::-1]
        case _:
            raise ValueError(timestamps_mode)

    return [idx / fps for idx in frame_indexes]


def decode_video_frames(
    video_path: str,
    timestamps: list[float],
    tolerance_s: float,
    backend: str,
) -> torch.Tensor:
    if backend in ["pyav", "video_reader"]:
        return decode_video_frames_torchvision(video_path, timestamps, tolerance_s, backend)
    else:
        raise NotImplementedError(backend)


def benchmark_decoding(
    imgs_dir: Path,
    video_path: Path,
    timestamps_mode: str,
    backend: str,
    ep_num_images: int,
    fps: int,
    num_samples: int = 50,
    num_workers: int = 4,
    save_frames: bool = False,
) -> dict:
    def process_sample(sample: int):
        time_benchmark = TimeBenchmark()
        timestamps = sample_timestamps(timestamps_mode, ep_num_images, fps)
        num_frames = len(timestamps)
        result = {
            "psnr_values": [],
            "ssim_values": [],
            "mse_values": [],
        }

        with time_benchmark:
            frames = decode_video_frames(video_path, timestamps=timestamps, tolerance_s=5e-1, backend=backend)
        result["load_time_video_ms"] = time_benchmark.result_ms / num_frames

        with time_benchmark:
            original_frames = load_original_frames(imgs_dir, timestamps, fps)
        result["load_time_images_ms"] = time_benchmark.result_ms / num_frames

        frames_np, original_frames_np = frames.numpy(), original_frames.numpy()
        for i in range(num_frames):
            result["mse_values"].append(mean_squared_error(original_frames_np[i], frames_np[i]))
            result["psnr_values"].append(
                peak_signal_noise_ratio(original_frames_np[i], frames_np[i], data_range=1.0)
            )
            result["ssim_values"].append(
                structural_similarity(original_frames_np[i], frames_np[i], data_range=1.0, channel_axis=0)
            )

        if save_frames and sample == 0:
            save_dir = video_path.with_suffix("") / f"{timestamps_mode}_{backend}"
            save_decoded_frames(imgs_dir, save_dir, frames, timestamps, fps)

        return result

    load_times_video_ms = []
    load_times_images_ms = []
    mse_values = []
    psnr_values = []
    ssim_values = []

    # A sample is a single set of decoded frames specified by timestamps_mode (e.g. a single frame, 2 frames, etc.).
    # For each sample, we record metrics (loading time and quality metrics) which are then averaged over all samples.
    # As these samples are independent, we run them in parallel threads to speed up the benchmark.
    with ThreadPoolExecutor(max_workers=num_workers) as executor:
        futures = [executor.submit(process_sample, i) for i in range(num_samples)]
        for future in tqdm(as_completed(futures), total=num_samples, desc="samples", leave=False):
            result = future.result()
            load_times_video_ms.append(result["load_time_video_ms"])
            load_times_images_ms.append(result["load_time_images_ms"])
            psnr_values.extend(result["psnr_values"])
            ssim_values.extend(result["ssim_values"])
            mse_values.extend(result["mse_values"])

    avg_load_time_video_ms = float(np.array(load_times_video_ms).mean())
    avg_load_time_images_ms = float(np.array(load_times_images_ms).mean())
    video_images_load_time_ratio = avg_load_time_video_ms / avg_load_time_images_ms

    return {
        "avg_load_time_video_ms": avg_load_time_video_ms,
        "avg_load_time_images_ms": avg_load_time_images_ms,
        "video_images_load_time_ratio": video_images_load_time_ratio,
        "avg_mse": float(np.mean(mse_values)),
        "avg_psnr": float(np.mean(psnr_values)),
        "avg_ssim": float(np.mean(ssim_values)),
    }


def benchmark_encoding_decoding(
    dataset: LeRobotDataset,
    video_path: Path,
    imgs_dir: Path,
    encoding_cfg: dict,
    decoding_cfg: dict,
    num_samples: int,
    num_workers: int,
    save_frames: bool,
    overwrite: bool = False,
    seed: int = 1337,
) -> list[dict]:
    fps = dataset.fps

    if overwrite or not video_path.is_file():
        tqdm.write(f"encoding {video_path}")
        encode_video_frames(
            imgs_dir=imgs_dir,
            video_path=video_path,
            fps=fps,
            vcodec=encoding_cfg["vcodec"],
            pix_fmt=encoding_cfg["pix_fmt"],
            g=encoding_cfg.get("g"),
            crf=encoding_cfg.get("crf"),
            # fast_decode=encoding_cfg.get("fastdecode"),
            overwrite=True,
        )

    ep_num_images = dataset.episode_data_index["to"][0].item()
    width, height = tuple(dataset[0][dataset.meta.camera_keys[0]].shape[-2:])
    num_pixels = width * height
    video_size_bytes = video_path.stat().st_size
    images_size_bytes = get_directory_size(imgs_dir)
    video_images_size_ratio = video_size_bytes / images_size_bytes

    random.seed(seed)
    benchmark_table = []
    for timestamps_mode in tqdm(
        decoding_cfg["timestamps_modes"], desc="decodings (timestamps_modes)", leave=False
    ):
        for backend in tqdm(decoding_cfg["backends"], desc="decodings (backends)", leave=False):
            benchmark_row = benchmark_decoding(
                imgs_dir,
                video_path,
                timestamps_mode,
                backend,
                ep_num_images,
                fps,
                num_samples,
                num_workers,
                save_frames,
            )
            benchmark_row.update(
                **{
                    "repo_id": dataset.repo_id,
                    "resolution": f"{width} x {height}",
                    "num_pixels": num_pixels,
                    "video_size_bytes": video_size_bytes,
                    "images_size_bytes": images_size_bytes,
                    "video_images_size_ratio": video_images_size_ratio,
                    "timestamps_mode": timestamps_mode,
                    "backend": backend,
                },
                **encoding_cfg,
            )
            benchmark_table.append(benchmark_row)

    return benchmark_table


def main(
    output_dir: Path,
    repo_ids: list[str],
    vcodec: list[str],
    pix_fmt: list[str],
    g: list[int],
    crf: list[int],
    # fastdecode: list[int],
    timestamps_modes: list[str],
    backends: list[str],
    num_samples: int,
    num_workers: int,
    save_frames: bool,
):
    check_datasets_formats(repo_ids)
    encoding_benchmarks = {
        "g": g,
        "crf": crf,
        # "fastdecode": fastdecode,
    }
    decoding_benchmarks = {
        "timestamps_modes": timestamps_modes,
        "backends": backends,
    }
    headers = ["repo_id", "resolution", "num_pixels"]
    headers += list(BASE_ENCODING.keys())
    headers += [
        "timestamps_mode",
        "backend",
        "video_size_bytes",
        "images_size_bytes",
        "video_images_size_ratio",
        "avg_load_time_video_ms",
        "avg_load_time_images_ms",
        "video_images_load_time_ratio",
        "avg_mse",
        "avg_psnr",
        "avg_ssim",
    ]
    file_paths = []
    for video_codec in tqdm(vcodec, desc="encodings (vcodec)"):
        for pixel_format in tqdm(pix_fmt, desc="encodings (pix_fmt)", leave=False):
            benchmark_table = []
            for repo_id in tqdm(repo_ids, desc="encodings (datasets)", leave=False):
                dataset = LeRobotDataset(repo_id)
                imgs_dir = output_dir / "images" / dataset.repo_id.replace("/", "_")
                # We only use the first episode
                save_first_episode(imgs_dir, dataset)
                for key, values in tqdm(encoding_benchmarks.items(), desc="encodings (g, crf)", leave=False):
                    for value in tqdm(values, desc=f"encodings ({key})", leave=False):
                        encoding_cfg = BASE_ENCODING.copy()
                        encoding_cfg["vcodec"] = video_codec
                        encoding_cfg["pix_fmt"] = pixel_format
                        encoding_cfg[key] = value
                        args_path = Path("_".join(str(value) for value in encoding_cfg.values()))
                        video_path = output_dir / "videos" / args_path / f"{repo_id.replace('/', '_')}.mp4"
                        benchmark_table += benchmark_encoding_decoding(
                            dataset,
                            video_path,
                            imgs_dir,
                            encoding_cfg,
                            decoding_benchmarks,
                            num_samples,
                            num_workers,
                            save_frames,
                        )

            # Save intermediate results
            benchmark_df = pd.DataFrame(benchmark_table, columns=headers)
            now = dt.datetime.now()
            csv_path = (
                output_dir
                / f"{now:%Y-%m-%d}_{now:%H-%M-%S}_{video_codec}_{pixel_format}_{num_samples}-samples.csv"
            )
            benchmark_df.to_csv(csv_path, header=True, index=False)
            file_paths.append(csv_path)
            del benchmark_df

    # Concatenate all results
    df_list = [pd.read_csv(csv_path) for csv_path in file_paths]
    concatenated_df = pd.concat(df_list, ignore_index=True)
    concatenated_path = output_dir / f"{now:%Y-%m-%d}_{now:%H-%M-%S}_all_{num_samples}-samples.csv"
    concatenated_df.to_csv(concatenated_path, header=True, index=False)


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument(
        "--output-dir",
        type=Path,
        default=Path("outputs/video_benchmark"),
        help="Directory where the video benchmark outputs are written.",
    )
    parser.add_argument(
        "--repo-ids",
        type=str,
        nargs="*",
        default=[
            "lerobot/pusht_image",
            "aliberts/aloha_mobile_shrimp_image",
            "aliberts/paris_street",
            "aliberts/kitchen",
        ],
        help="Datasets repo-ids to test against. First episodes only are used. Must be images.",
    )
    parser.add_argument(
        "--vcodec",
        type=str,
        nargs="*",
        default=["libx264", "hevc", "libsvtav1"],
        help="Video codecs to be tested",
    )
    parser.add_argument(
        "--pix-fmt",
        type=str,
        nargs="*",
        default=["yuv444p", "yuv420p"],
        help="Pixel formats (chroma subsampling) to be tested",
    )
    parser.add_argument(
        "--g",
        type=parse_int_or_none,
        nargs="*",
        default=[1, 2, 3, 4, 5, 6, 10, 15, 20, 40, 100, None],
        help="Group of pictures sizes to be tested.",
    )
    parser.add_argument(
        "--crf",
        type=parse_int_or_none,
        nargs="*",
        default=[0, 5, 10, 15, 20, 25, 30, 40, 50, None],
        help="Constant rate factors to be tested.",
    )
    # parser.add_argument(
    #     "--fastdecode",
    #     type=int,
    #     nargs="*",
    #     default=[0, 1],
    #     help="Use the fastdecode tuning option. 0 disables it. "
    #         "For libx264 and libx265/hevc, only 1 is possible. "
    #         "For libsvtav1, 1, 2 or 3 are possible values with a higher number meaning a faster decoding optimization",
    # )
    parser.add_argument(
        "--timestamps-modes",
        type=str,
        nargs="*",
        default=[
            "1_frame",
            "2_frames",
            "2_frames_4_space",
            "6_frames",
        ],
        help="Timestamps scenarios to be tested.",
    )
    parser.add_argument(
        "--backends",
        type=str,
        nargs="*",
        default=["pyav", "video_reader"],
        help="Torchvision decoding backend to be tested.",
    )
    parser.add_argument(
        "--num-samples",
        type=int,
        default=50,
        help="Number of samples for each encoding x decoding config.",
    )
    parser.add_argument(
        "--num-workers",
        type=int,
        default=10,
        help="Number of processes for parallelized sample processing.",
    )
    parser.add_argument(
        "--save-frames",
        type=int,
        default=0,
        help="Whether to save decoded frames or not. Enter a non-zero number for true.",
    )
    args = parser.parse_args()
    main(**vars(args))