admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-24 10:16:09 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix(rerun depth range): making rerun depth range computation safe against missing stats

Browse Source
This commit is contained in:
CarolinePascal
2026-07-01 16:30:11 +02:00
parent 7f18b8aad0
commit 0cdb15110f
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/scripts/lerobot_dataset_viz.py
+4 -2
View File
@@ -231,7 +231,9 @@ def visualize_dataset(
# Use the dataset's q01/q99 depth statistics for robust depth range bounds # Use the dataset's q01/q99 depth statistics for robust depth range bounds
depth_ranges = {} depth_ranges = {}
for key in dataset.meta.depth_keys: for key in dataset.meta.depth_keys:
stats = dataset.meta.stats[key] stats = (dataset.meta.stats or {}).get(key)
if not stats:
continue
lo = stats["q01"] if "q01" in stats else stats["min"] lo = stats["q01"] if "q01" in stats else stats["min"]
hi = stats["q99"] if "q99" in stats else stats["max"] hi = stats["q99"] if "q99" in stats else stats["max"]
depth_ranges[key] = (float(np.asarray(lo).item()), float(np.asarray(hi).item())) depth_ranges[key] = (float(np.asarray(lo).item()), float(np.asarray(hi).item()))
@@ -253,7 +255,7 @@ def visualize_dataset(
depth_entity = rr.DepthImage( depth_entity = rr.DepthImage(
depth, depth,
colormap=rr.components.Colormap.Viridis, colormap=rr.components.Colormap.Viridis,
depth_range=depth_ranges[key], depth_range=depth_ranges.get(key),
) )
rr.log(key, entity=depth_entity) rr.log(key, entity=depth_entity)
else: else: