add a new feature "display_image"

PiperOrigin-RevId: 638014851

tensorflow_datasets/robotics/dataset_importer_builder.py

@@ -83,9 +83,22 @@ def _info(self) -> tfds.core.DatasetInfo:
 
     tmp = dict(features)
 
+    # add all image features from observations to a new featuresdict
+    image_from_observation = {}
+    if 'steps' in tmp and 'observation' in tmp['steps']:
+      observation = tmp['steps']['observation']
+      for feature_name, feature_data in observation.items():
+        if isinstance(feature_data, tfds.features.Image):
+          image_from_observation[feature_name] = feature_data
+      image_from_observation_dict = tfds.features.FeaturesDict(
+          image_from_observation
+      )
+      tmp['display_image'] = image_from_observation_dict
+
     for key in self.KEYS_TO_STRIP:
       if key in tmp:
         del tmp[key]
+
     features = tfds.features.FeaturesDict(tmp)
 
     return tfds.core.DatasetInfo(
@@ -115,20 +128,42 @@ def _generate_examples(
     split = split_info.name
     read_config = read_config_lib.ReadConfig(add_tfds_id=True)
 
+    features = self.get_ds_builder().info.features
+    tmp = dict(features)
+    image_name_from_observation_set = set()
+    if 'steps' in tmp and 'observation' in tmp['steps']:
+      observation = tmp['steps']['observation']
+      for feature_name, feature_data in observation.items():
+        if isinstance(feature_data, tfds.features.Image):
+          image_name_from_observation_set.add(feature_name)
+
     decode_fn = builder.info.features['steps'].feature.decode_example
 
     def converter_fn(example):
       # Decode the RLDS Episode and transform it to numpy.
       example_out = dict(example)
+
       example_out['steps'] = tf.data.Dataset.from_tensor_slices(
           example_out['steps']
       ).map(decode_fn)
+
       steps = list(iter(example_out['steps'].take(-1)))
       example_out['steps'] = steps
 
       example_out = dataset_utils.as_numpy(example_out)
+      new_step = example_out['steps']
+      first_step = new_step[0]
+      image_feature_dict = {}
+
+      for feature_name, feature_data in first_step['observation'].items():
+        # all the features are arrays now we cannot distinguish image/others
+        if feature_name in image_name_from_observation_set:
+          image_feature_dict[feature_name] = feature_data
+      if image_feature_dict:
+        example_out['display_image'] = image_feature_dict
 
       example_id = example_out['tfds_id'].decode('utf-8')
+
       del example_out['tfds_id']
       for key in self.KEYS_TO_STRIP:
         if key in example_out: