wfmf.show_arena = arena
wfmf.show_lxly = args.show_laser
wfmf.show_fxfy = args.show_target
wfmf.show_timestamp = args.show_timestamp
wfmf.show_epoch = args.show_epoch
fmfwidth = wfmf.width
fmfheight = wfmf.height
try:
print 'loading w timestamps'
wts = wfmf.fmf.get_all_timestamps()
except AttributeError:
wts = df['t_framenumber'].dropna().unique()
pbar = madplot.get_progress_bar("computing frames", len(wts))
frames = []
for i, (wt0, wt1) in enumerate(madplot.pairwise(wts)):
pbar.update(i)
fdf = madplot.get_framedf(df, wt1)
lfdf = len(fdf)
if lfdf:
try:
most_recent_time = madplot.get_framedf(df, wt1).index[-1]
minidf = df[madplot.get_framedf(df, wt0).
index[0]:most_recent_time]
device_y0=actual_h - PH,
device_y1=actual_h)
moviemaker = madplot.MovieMaker(basename=os.path.basename(BAG_FILE))
ass = Assembler(
actual_w,
actual_h,
panels,
wfmf,
zfmf,
ttlplotter,
moviemaker,
)
pbar = madplot.get_progress_bar(moviemaker.movie_fname, len(frames))
for i, desc in enumerate(frames):
ass.render_frame(desc)
pbar.update(i)
if 'TEST_MOVIES' in os.environ:
if i > 50: break
pbar.finish()
moviefname = moviemaker.render(
args.outdir if args.outdir else os.path.dirname(BAG_FILE))
print "wrote", moviefname
moviemaker.cleanup()
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('path', nargs=1, help='path to fmf file')
parser.add_argument('--fps', type=int, default=30)
parser.add_argument('--outdir', help='destination directory for mp4')
args = parser.parse_args()
path = args.path[0]
fmf = madplot.FMFImagePlotter(path, 'none')
fmf.enable_color_correction(brightness=20, contrast=1.5)
frames = fmf.fmf.get_all_timestamps()
moviemaker = madplot.MovieMaker(basename=os.path.basename(path)+'_plain', fps=args.fps)
pbar = madplot.get_progress_bar(moviemaker.movie_fname, len(frames))
for i,ts in enumerate(frames):
f = fmf.get_frame_number(i)
png = moviemaker.next_frame()
cv2.imwrite(png, f)
pbar.update(i)
if 'TEST_MOVIES' in os.environ:
if i > 50: break
pbar.finish()
moviefname = moviemaker.render(args.outdir if args.outdir else os.path.dirname(path))
print "wrote", moviefname
def doit_using_framenumber(user_data):
match, mp4_dir, show_theta, show_velocity, pre_frames, post_frames = user_data
zoomf = match.fmf
rosbagf = match.bag
maxt = match.maxt
moviemaker = madplot.MovieMaker(basename=os.path.basename(zoomf), fps=15)
target_moviefname = moviemaker.get_target_movie_name(mp4_dir)
if os.path.exists(target_moviefname):
print 'target %r exists: skipping movie'%(target_moviefname,)
moviemaker.cleanup()
return
arena = madplot.Arena(False)
zoom = madplot.FMFImagePlotter(zoomf, 'z_frame')
zoom.enable_color_correction(brightness=15, contrast=1.5)
wide = madplot.ArenaPlotter(arena,tzname=TZNAME)
wide.show_theta = show_theta
wide.show_velocity = show_velocity
wide.show_epoch = True
wide.show_framenumber = True
wide.show_lxly = True
wide.show_fxfy = True
renderlist = []
zoom_ts = zoom.fmf.get_all_timestamps().tolist()
df = madplot.load_bagfile_single_dataframe(rosbagf, arena, ffill=True,
tzname=TZNAME)
t0 = df.index[0].asm8.astype(np.int64) / 1e9
# find start and stop frames based on laser transition ----
laser_power = df['laser_power'].values
framenumber = df['h_framenumber'].values
laser_power = np.array( laser_power, copy=True )
laser_power[ np.isnan(laser_power) ] = 0
dlaser = laser_power[1:]-laser_power[:-1]
laser_transitions = np.nonzero(dlaser)[0]
startframenumber = -np.inf
stopframenumber = np.inf
if pre_frames is None:
assert post_frames is None
if pre_frames is not None:
assert post_frames is not None
for i,idx in enumerate(laser_transitions):
if i==0:
startframenumber = framenumber[idx-pre_frames]
elif i==1:
stopframenumber = framenumber[idx+post_frames]
else:
print 'ERROR: unknown laser transition in %r'%zoomf
moviemaker.cleanup()
return
# got start and stop frames -----
for idx,group in df.groupby('h_framenumber'):
# limit movies to only frames we want
this_framenumber = group['h_framenumber'].values[0]
if not (startframenumber <= this_framenumber and this_framenumber <= stopframenumber):
continue
#did we save a frame ?
try:
frameoffset = zoom_ts.index(idx)
except ValueError:
#missing frame (probbably because the video was not recorded at
#full frame rate
continue
frame = madplot.FMFFrame(offset=frameoffset, timestamp=idx)
row = group.dropna(subset=['tobj_id']).tail(1)
if len(row):
if maxt > 0:
dt = (row.index[0].asm8.astype(np.int64) / 1e9) - t0
if dt > maxt:
break
desc = madplot.FrameDescriptor(
None,
frame,
row,
row.index[0].asm8.astype(np.int64) / 1e9)
renderlist.append(desc)
if len(renderlist)==0:
moviemaker.cleanup()
return
wide.t0 = t0
panels = {}
#left half of screen
panels["wide"] = wide.get_benu_panel(
device_x0=0, device_x1=0.5*TARGET_OUT_W,
device_y0=0, device_y1=TARGET_OUT_H
)
panels["zoom"] = zoom.get_benu_panel(
device_x0=0.5*TARGET_OUT_W, device_x1=TARGET_OUT_W,
device_y0=0, device_y1=TARGET_OUT_H
)
actual_w, actual_h = benu.utils.negotiate_panel_size_same_height(panels, TARGET_OUT_W)
ass = Assembler(actual_w, actual_h,
panels,
wide,zoom,
moviemaker,
)
if not USE_MULTIPROCESSING:
pbar = madplot.get_progress_bar(moviemaker.movie_fname, len(renderlist))
for i,desc in enumerate(renderlist):
ass.render_frame(desc)
if not USE_MULTIPROCESSING:
pbar.update(i)
if not USE_MULTIPROCESSING:
pbar.finish()
if not os.path.exists(mp4_dir):
os.makedirs(mp4_dir)
moviefname = moviemaker.render(mp4_dir)
print "wrote", moviefname
moviemaker.cleanup()
def doit_using_framenumber(user_data):
match, mdir, show_theta, show_velocity = user_data
zoomf = match.fmf
rosbagf = match.bag
maxt = match.maxt
arena = madplot.Arena(False)
zoom = madplot.FMFImagePlotter(zoomf, 'z_frame')
zoom.enable_color_correction(brightness=15, contrast=1.5)
wide = madplot.ArenaPlotter(arena)
wide.show_theta = show_theta
wide.show_velocity = show_velocity
wide.show_epoch = True
wide.show_framenumber = True
wide.show_lxly = True
wide.show_fxfy = True
renderlist = []
zoom_ts = zoom.fmf.get_all_timestamps().tolist()
df = madplot.load_bagfile_single_dataframe(rosbagf, arena, ffill=True)
t0 = df.index[0].asm8.astype(np.int64) / 1e9
for idx,group in df.groupby('h_framenumber'):
#did we save a frame ?
try:
frameoffset = zoom_ts.index(idx)
except ValueError:
#missing frame (probbably because the video was not recorded at
#full frame rate
continue
frame = madplot.FMFFrame(offset=frameoffset, timestamp=idx)
row = group.dropna(subset=['tobj_id']).tail(1)
if len(row):
if maxt > 0:
dt = (row.index[0].asm8.astype(np.int64) / 1e9) - t0
if dt > maxt:
break
desc = madplot.FrameDescriptor(
None,
frame,
row,
row.index[0].asm8.astype(np.int64) / 1e9)
renderlist.append(desc)
wide.t0 = t0
panels = {}
#left half of screen
panels["wide"] = wide.get_benu_panel(
device_x0=0, device_x1=0.5*TARGET_OUT_W,
device_y0=0, device_y1=TARGET_OUT_H
)
panels["zoom"] = zoom.get_benu_panel(
device_x0=0.5*TARGET_OUT_W, device_x1=TARGET_OUT_W,
device_y0=0, device_y1=TARGET_OUT_H
)
actual_w, actual_h = benu.utils.negotiate_panel_size_same_height(panels, TARGET_OUT_W)
moviemaker = madplot.MovieMaker(basename=os.path.basename(zoomf), fps=30)
target_moviefname = moviemaker.get_target_movie_name(mdir)
if os.path.exists(target_moviefname):
print 'target %r exists: skipping movie'%(target_moviefname,)
return
ass = Assembler(actual_w, actual_h,
panels,
wide,zoom,
moviemaker,
)
if not USE_MULTIPROCESSING:
pbar = madplot.get_progress_bar(moviemaker.movie_fname, len(renderlist))
for i,desc in enumerate(renderlist):
ass.render_frame(desc)
if not USE_MULTIPROCESSING:
pbar.update(i)
if not USE_MULTIPROCESSING:
pbar.finish()
if not os.path.exists(mdir):
os.makedirs(mdir)
moviefname = moviemaker.render(mdir)
print "wrote", moviefname
moviemaker.cleanup()
def doit_using_framenumber(user_data):
match, mp4_dir, show_theta, show_velocity, pre_frames, post_frames = user_data
zoomf = match.fmf
rosbagf = match.bag
maxt = match.maxt
moviemaker = madplot.MovieMaker(basename=os.path.basename(zoomf), fps=15)
target_moviefname = moviemaker.get_target_movie_name(mp4_dir)
if os.path.exists(target_moviefname):
print 'target %r exists: skipping movie' % (target_moviefname, )
moviemaker.cleanup()
return
arena = madplot.Arena(False)
zoom = madplot.FMFImagePlotter(zoomf, 'z_frame')
zoom.enable_color_correction(brightness=15, contrast=1.5)
wide = madplot.ArenaPlotter(arena, tzname=TZNAME)
wide.show_theta = show_theta
wide.show_velocity = show_velocity
wide.show_epoch = True
wide.show_framenumber = True
wide.show_lxly = True
wide.show_fxfy = True
renderlist = []
zoom_ts = zoom.fmf.get_all_timestamps().tolist()
df = madplot.load_bagfile_single_dataframe(rosbagf,
arena,
ffill=True,
tzname=TZNAME)
t0 = df.index[0].asm8.astype(np.int64) / 1e9
# find start and stop frames based on laser transition ----
laser_power = df['laser_power'].values
framenumber = df['h_framenumber'].values
laser_power = np.array(laser_power, copy=True)
laser_power[np.isnan(laser_power)] = 0
dlaser = laser_power[1:] - laser_power[:-1]
laser_transitions = np.nonzero(dlaser)[0]
startframenumber = -np.inf
stopframenumber = np.inf
if pre_frames is None:
assert post_frames is None
if pre_frames is not None:
assert post_frames is not None
for i, idx in enumerate(laser_transitions):
if i == 0:
startframenumber = framenumber[idx - pre_frames]
elif i == 1:
stopframenumber = framenumber[idx + post_frames]
else:
print 'ERROR: unknown laser transition in %r' % zoomf
moviemaker.cleanup()
return
# got start and stop frames -----
for idx, group in df.groupby('h_framenumber'):
# limit movies to only frames we want
this_framenumber = group['h_framenumber'].values[0]
if not (startframenumber <= this_framenumber
and this_framenumber <= stopframenumber):
continue
#did we save a frame ?
try:
frameoffset = zoom_ts.index(idx)
except ValueError:
#missing frame (probbably because the video was not recorded at
#full frame rate
continue
frame = madplot.FMFFrame(offset=frameoffset, timestamp=idx)
row = group.dropna(subset=['tobj_id']).tail(1)
if len(row):
if maxt > 0:
dt = (row.index[0].asm8.astype(np.int64) / 1e9) - t0
if dt > maxt:
break
desc = madplot.FrameDescriptor(
None, frame, row, row.index[0].asm8.astype(np.int64) / 1e9)
renderlist.append(desc)
if len(renderlist) == 0:
moviemaker.cleanup()
return
wide.t0 = t0
panels = {}
#left half of screen
panels["wide"] = wide.get_benu_panel(device_x0=0,
device_x1=0.5 * TARGET_OUT_W,
device_y0=0,
device_y1=TARGET_OUT_H)
panels["zoom"] = zoom.get_benu_panel(device_x0=0.5 * TARGET_OUT_W,
device_x1=TARGET_OUT_W,
device_y0=0,
device_y1=TARGET_OUT_H)
actual_w, actual_h = benu.utils.negotiate_panel_size_same_height(
panels, TARGET_OUT_W)
ass = Assembler(
actual_w,
actual_h,
panels,
wide,
zoom,
moviemaker,
)
if not USE_MULTIPROCESSING:
pbar = madplot.get_progress_bar(moviemaker.movie_fname,
len(renderlist))
for i, desc in enumerate(renderlist):
ass.render_frame(desc)
if not USE_MULTIPROCESSING:
pbar.update(i)
if not USE_MULTIPROCESSING:
pbar.finish()
if not os.path.exists(mp4_dir):
os.makedirs(mp4_dir)
moviefname = moviemaker.render(mp4_dir)
print "wrote", moviefname
moviemaker.cleanup()
def doit_using_framenumber(user_data):
match, mdir, show_theta, show_velocity = user_data
zoomf = match.fmf
rosbagf = match.bag
maxt = match.maxt
arena = madplot.Arena(False)
zoom = madplot.FMFImagePlotter(zoomf, 'z_frame')
zoom.enable_color_correction(brightness=15, contrast=1.5)
wide = madplot.ArenaPlotter(arena)
wide.show_theta = show_theta
wide.show_velocity = show_velocity
wide.show_epoch = True
wide.show_framenumber = True
wide.show_lxly = True
wide.show_fxfy = True
renderlist = []
zoom_ts = zoom.fmf.get_all_timestamps().tolist()
df = madplot.load_bagfile_single_dataframe(rosbagf, arena, ffill=True)
t0 = df.index[0].asm8.astype(np.int64) / 1e9
for idx, group in df.groupby('h_framenumber'):
#did we save a frame ?
try:
frameoffset = zoom_ts.index(idx)
except ValueError:
#missing frame (probbably because the video was not recorded at
#full frame rate
continue
frame = madplot.FMFFrame(offset=frameoffset, timestamp=idx)
row = group.dropna(subset=['tobj_id']).tail(1)
if len(row):
if maxt > 0:
dt = (row.index[0].asm8.astype(np.int64) / 1e9) - t0
if dt > maxt:
break
desc = madplot.FrameDescriptor(
None, frame, row, row.index[0].asm8.astype(np.int64) / 1e9)
renderlist.append(desc)
wide.t0 = t0
panels = {}
#left half of screen
panels["wide"] = wide.get_benu_panel(device_x0=0,
device_x1=0.5 * TARGET_OUT_W,
device_y0=0,
device_y1=TARGET_OUT_H)
panels["zoom"] = zoom.get_benu_panel(device_x0=0.5 * TARGET_OUT_W,
device_x1=TARGET_OUT_W,
device_y0=0,
device_y1=TARGET_OUT_H)
actual_w, actual_h = benu.utils.negotiate_panel_size_same_height(
panels, TARGET_OUT_W)
moviemaker = madplot.MovieMaker(basename=os.path.basename(zoomf), fps=30)
target_moviefname = moviemaker.get_target_movie_name(mdir)
if os.path.exists(target_moviefname):
print 'target %r exists: skipping movie' % (target_moviefname, )
return
ass = Assembler(
actual_w,
actual_h,
panels,
wide,
zoom,
moviemaker,
)
if not USE_MULTIPROCESSING:
pbar = madplot.get_progress_bar(moviemaker.movie_fname,
len(renderlist))
for i, desc in enumerate(renderlist):
ass.render_frame(desc)
if not USE_MULTIPROCESSING:
pbar.update(i)
if not USE_MULTIPROCESSING:
pbar.finish()
if not os.path.exists(mdir):
os.makedirs(mdir)
moviefname = moviemaker.render(mdir)
print "wrote", moviefname
moviemaker.cleanup()