def anyframeextract(r, a, h, pd, codec, extractpath, args, useframeid=False):
q = r.streams[h["nid"]]
xres, yres = q["size"]
if codec == "jpeg":
ext = "jpg"
elif codec == "16zt":
ext = "png"
if ob is None:
ob = xndec.allocoutput16(xres * yres)
else:
ext = "bin"
if useframeid:
outfile = "%s%d.%s" % (extractpath, pd["frameid"], ext)
else:
outfile = "%s.%s" % (extractpath, ext)
print(outfile, codec)
of = open(outfile, "wb")
if codec == "jpeg":
of.write(a.read(h["ps"]))
elif codec == "16zt":
code, size = xndec.doXnStreamUncompressDepth16ZWithEmbTable(
a.read(h["ps"]), ob)
aa = array.array("H")
aa.fromstring(ob)
rows = [aa[i * xres:(i + 1) * xres] for i in range(0, yres)]
if args.coloreddepth:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres, height=yres, greyscale=True, bitdepth=8)
w.write(of, [[int(x * 255.0 / 8000.0) for x in y] for y in rows])
else:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres,
height=yres,
greyscale=True,
bitdepth=16)
w.write(of, rows)
else:
print("unsupported codec", codec)
sys.exit(0)
of.close()
def anyframeextract(r,a,h,pd,codec,extractpath,args,useframeid=False):
q = r.streams[h["nid"]]
xres,yres = q["size"]
if codec == "jpeg":
ext = "jpeg"
elif codec == "16zt":
ext = "png"
if ob is None:
ob = xndec.allocoutput16(xres*yres)
else:
ext = "bin"
if useframeid:
outfile = "%s%d.%s" % (extractpath,pd["frameid"],ext)
else:
outfile = "%s.%s" % (extractpath,ext)
print outfile,codec
of = open(outfile,"wb")
if codec == "jpeg":
of.write(a.read(h["ps"]))
elif codec == "16zt":
code,size = xndec.doXnStreamUncompressDepth16ZWithEmbTable(a.read(h["ps"]),ob)
aa = array.array("H")
aa.fromstring(ob)
rows = [aa[i*xres:(i+1)*xres] for i in range(0,yres)]
if args.coloreddepth:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres,height=yres,greyscale=True,bitdepth=8)
w.write(of,[[int(x*255.0/8000.0) for x in y] for y in rows])
else:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres,height=yres,greyscale=True,bitdepth=16)
w.write(of,rows)
else:
print "unsupported codec",foundhh
sys.exit(0)
of.close()
def register(args, action, a, b):
model = AsusModel()
# scan first and emit second
depthseen = False
colorseen = False
device = "asusxtion"
ob = None
depthdataout = None
colordataout = None
maxoutdepth = 5000
r = oni.Reader(a)
w = oni.Writer(b, r.h0)
modifycolor = action == "registercolor" # color from depth or the opposite, means that we can directly store one of the two
nidd = None
nidc = None
# parse all metadata and copy
ignore = set([
oni.RECORD_NEW_DATA, oni.RECORD_END, oni.RECORD_SEEK_TABLE,
oni.RECORD_NODE_REMOVED
])
while True:
h = r.next()
if h is None:
break
elif h["rt"] == oni.RECORD_NEW_DATA:
continue # otherwise no seek
elif h["rt"] in ignore:
print("ignored", h["rt"])
continue
#TODO mark registered
# elif h["rt"] == oni.RECORD_INT_PROPERTY:
# z = oni.parseprop(a,h)
# print z["name"]
# if z["name"] == "registrationType":
# z["data"] = 2
# # TODO append block property
# #w.addproperty(h,z) else:
else:
w.copyblock(h, a)
# then start iterating the frames
idd = r.nodetype2nid[oni.NODE_TYPE_DEPTH]
idc = r.nodetype2nid[oni.NODE_TYPE_IMAGE]
td = r.getseektable(idd)
tc = r.getseektable(idc)
if tc is None:
raise Exception("Missing color")
if td is None:
raise Exception("Missing depth")
tc["nid"] = idc
td["nid"] = idd
tc["times"] = [x["timestamp"] for x in tc["data"]]
td["times"] = [x["timestamp"] for x in td["data"]]
def findnearest(index, time):
a = index["times"]
i = bisect.bisect_left(a, time)
# time <= a[i]
if i == 0:
if len(a) < 2:
return 0
else:
i = 1 # 0 is bad
if i < 2 or i >= len(a) - 1:
if i >= len(a) - 1:
i = len(a) - 1
return (i, index["data"][i])
else:
next = a[i]
pre = a[i - 1]
if (next - time) < (time - pre):
return (i, index["data"][i])
else:
return (i - 1, index["data"][i - 1])
# given the primary
if modifycolor:
primary = td
secondary = tc
else:
primary = tc
secondary = td
# statistics
if False:
dtimes = []
dframes = []
for x in primary["data"]:
fi, f = findnearest(secondary, x["timestamp"])
dtimes.append(f["timestamp"] - x["timestamp"])
dframes.append(f["frameid"] - x["frameid"])
print(x["frameid"], f["frameid"], x["timestamp"], f["timestamp"],
(f["frameid"] - x["frameid"]),
(f["timestamp"] - x["timestamp"]),
(f["offset"] - x["offset"]))
print("time min", min(dtimes), "max", max(dtimes))
print("frame min", min(dframes), "max", max(dframes))
for primaryframe in primary["data"]:
fi, secondaryframe = findnearest(secondary, primaryframe["timestamp"])
# TODO: support for by frame matching, simply: f = secondary[x["frameid"]]
if args.fduration > -1 and primaryframe["frameid"] > args.fduration:
break
# skip dummy first
if primaryframe["frameid"] == 0 or secondaryframe["frameid"] == 0:
continue
for i in range(0, 2): #maybe just (primaryframe,secondaryframe)
hh = i == 0 and primaryframe or secondaryframe
a.seek(hh["offset"]) # to data
h = oni.readrechead(a)
hhreal = oni.parsedatahead(a, h)
print(h, hhreal)
nid = h["nid"]
# TODO support for sizes different among streams
hhnode = r.streams[nid]
codec = hhnode["codec"]
size = hhnode["size"]
xres, yres = size
#TODO allow for other encodings
if codec == "jpeg":
rawdata = a.read(h["ps"])
# decompress always
b = io.BytesIO()
b.write(rawdata)
b.seek(0)
inc_i = Image.open(b)
# AS COLOR
hc = hh
if not modifycolor:
# preserve color as compressed
w.addframe(nid, hh["frameid"], hh["timestamp"], rawdata)
colordata = inc_i.tostring(
) #Image.tobytes(inc_i,encoder_name='raw')
elif codec == "16zt":
rawdata = a.read(h["ps"])
if ob is None:
ob = xndec.allocoutput16(xres * yres)
xndec.doXnStreamUncompressDepth16ZWithEmbTable(rawdata, ob)
aa = array.array("H")
aa.fromstring(ob)
# AS DEPTH
depthdata = aa
hd = hh
if modifycolor:
# depth is preserved in depthmode
w.addframe(nid, hh["frameid"], hh["timestamp"], rawdata)
else:
print("unsupported codec", codec)
print(
"registering ", modifycolor and "newcolor" or "newdepth",
"depthframe(frame,time)", (hd["frameid"], hd["timestamp"]),
"colorframe(frame,time)", (hc["frameid"], hc["timestamp"]),
"deltaframe(c-d)(frame,time)",
(hc["frameid"] - hd["frameid"], hc["timestamp"] - hd["timestamp"]))
if modifycolor:
#anyregistration on (colordata,depthdata) -> colordataout
# autoalloc
print(depthdata.__class__, len(depthdata), colordata.__class__,
len(colordata), size)
colordataout = anyregistration.doregister2color(
colordataout, depthdata, colordata, size, model.Drgb,
model.Krgb, size, model.Ddepth, model.Kdepth, model.R, model.T)
im = Image.frombytes("RGB",
size,
colordataout.raw,
decoder_name='raw')
b = io.BytesIO()
im.save(b, 'JPEG')
w.addframe(idc, hd["frameid"],
args.registersynctime and hd["timestamp"]
or hc["timestamp"],
b.getvalue()) # keep timestamp, discard frameid
print("\tcompressed from", xres * yres * 3, "to",
len(b.getvalue()))
# TODO add option for faking timestamp
else:
#anyregistration (colordata,depthdata) -> depthdataout
depthdataout = anyregistration.doregister2depth(
depthdataout, depthdata, colordata, size, model.Drgb,
model.Krgb, size, model.Ddepth, model.Kdepth, model.R, model.T)
print("\tgenerated", depthdataout.__class__, len(depthdataout))
status, size = xndec.doXnStreamCompressDepth16ZWithEmbTable(
depthdataout, ob, maxoutdepth)
print("\tcompressed from", xres * yres * 2, "to", size)
w.addframe(idd, hc["frameid"],
args.registersynctime and hc["timestamp"]
or hd["timestamp"],
ob[0:size]) # keep timestamp, discard frameid
# TODO add option for faking timestamp
#TODO
#end
#removed DEVICE --> MISSING
#removed IMAGE -->
#seektable IMAGE
#removed DEPTH -->
#seektable DEPTH
w.finalize()
def extract(args, action, extractpath, a):
codec = None
foundhh = None
ob = None
extracttype = \
dict(extractboth=-1, extractcolor=oni.NODE_TYPE_IMAGE, extractdepth=oni.NODE_TYPE_DEPTH,
extractir=oni.NODE_TYPE_IR)[action]
targetnid = None
seekframe = args.fseek
endframe = args.fduration < 0 and -1 or seekframe + args.fduration
# scan all and keep pre and last
r = oni.Reader(a)
while True:
h = r.next()
if h is None:
break
if h["rt"] in oni.RECORD_NODE_ADDED_ALL:
hh = oni.parseadded(a, h)
if hh["nodetype"] == extracttype:
targetnid = h["nid"]
codec = hh["codec"]
foundhh = hh
print("!!found matching for ", targetnid, codec)
if codec == "16zt":
if xndec is None:
print("xndec is missing cannot decode to png")
sys.exit(-1)
if xndec.doXnStreamUncompressDepth16ZWithEmbTable is None:
print(
"xndec is doXnStreamUncompressDepth16ZWithEmbTable"
)
sys.exit(-1)
if png is None:
print("pypng is missing")
sys.exit(-1)
elif h["nid"] == targetnid:
if h["rt"] == oni.RECORD_NEW_DATA:
pd = oni.parsedatahead(a, h)
if pd["frameid"] >= seekframe and (endframe == -1 or
pd["frameid"] < endframe):
print("newdata", pd["frameid"], h["ps"], h["fs"], codec)
q = r.streams[h["nid"]]
xres, yres = q["size"]
if codec == "jpeg":
ext = "jpg"
elif codec == "16zt":
ext = "png"
if ob is None:
ob = xndec.allocoutput16(xres * yres)
else:
ext = "bin"
outfile = f'{extractpath}{pd["frameid"]:06d}.{ext}'
print(outfile, codec)
of = open(outfile, "wb")
if codec == "jpeg":
of.write(a.read(h["ps"]))
elif codec == "16zt":
code, size = xndec.doXnStreamUncompressDepth16ZWithEmbTable(
a.read(h["ps"]), ob)
aa = array.array("H")
aa.fromstring(ob)
rows = [
aa[i * xres:(i + 1) * xres]
for i in range(0, yres)
]
if args.coloreddepth:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres,
height=yres,
greyscale=True,
bitdepth=8)
w.write(of, [[int(x * 255.0 / 8000.0) for x in y]
for y in rows])
else:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres,
height=yres,
greyscale=True,
bitdepth=16)
w.write(of, rows)
else:
print("unsupported codec", foundhh)
sys.exit(0)
of.close()
elif endframe != -1 and pd["frameid"] >= endframe:
break
def register(args,action,a,b):
model = AsusModel()
# scan first and emit second
depthseen = False
colorseen = False
device = "asusxtion"
ob = None
depthdataout = None
colordataout = None
maxoutdepth = 5000
r = oni.Reader(a)
w = oni.Writer(b,r.h0)
modifycolor = action == "registercolor" # color from depth or the opposite, means that we can directly store one of the two
nidd = None
nidc = None
# parse all metadata and copy
ignore = set([oni.RECORD_NEW_DATA,oni.RECORD_END,oni.RECORD_SEEK_TABLE,oni.RECORD_NODE_REMOVED])
while True:
h = r.next()
if h is None:
break
elif h["rt"] == oni.RECORD_NEW_DATA:
continue # otherwise no seek
elif h["rt"] in ignore:
print "ignored",h["rt"]
continue
#TODO mark registered
# elif h["rt"] == oni.RECORD_INT_PROPERTY:
# z = oni.parseprop(a,h)
# print z["name"]
# if z["name"] == "registrationType":
# z["data"] = 2
# # TODO append block property
# #w.addproperty(h,z) else:
else:
w.copyblock(h,a)
# then start iterating the frames
idd = r.nodetype2nid[oni.NODE_TYPE_DEPTH]
idc = r.nodetype2nid[oni.NODE_TYPE_IMAGE]
td = r.getseektable(idd)
tc = r.getseektable(idc)
if tc is None:
raise "Missing color"
if td is None:
raise "Missing depth"
tc["nid"] = idc
td["nid"] = idd
tc["times"] = [x["timestamp"] for x in tc["data"]]
td["times"] = [x["timestamp"] for x in td["data"]]
def findnearest(index,time):
a = index["times"]
i = bisect.bisect_left(a,time)
# time <= a[i]
if i == 0:
if len(a) < 2:
return 0
else:
i = 1 # 0 is bad
if i < 2 or i >= len(a)-1:
if i >= len(a)-1:
i = len(a)-1
return (i,index["data"][i])
else:
next = a[i]
pre = a[i-1]
if (next-time) < (time-pre):
return (i,index["data"][i])
else:
return (i-1,index["data"][i-1])
# given the primary
if modifycolor:
primary = td
secondary = tc
else:
primary = tc
secondary = td
# statistics
if False:
dtimes = []
dframes = []
for x in primary["data"]:
fi,f = findnearest(secondary,x["timestamp"])
dtimes.append(f["timestamp"]-x["timestamp"])
dframes.append(f["frameid"]-x["frameid"])
print x["frameid"],f["frameid"],x["timestamp"],f["timestamp"],(f["frameid"]-x["frameid"]),(f["timestamp"]-x["timestamp"]),(f["offset"]-x["offset"])
print "time min",min(dtimes),"max",max(dtimes)
print "frame min",min(dframes),"max",max(dframes)
for primaryframe in primary["data"]:
fi,secondaryframe = findnearest(secondary,primaryframe["timestamp"])
# TODO: support for by frame matching, simply: f = secondary[x["frameid"]]
if args.fduration > -1 and primaryframe["frameid"] > args.fduration:
break
# skip dummy first
if primaryframe["frameid"] == 0 or secondaryframe["frameid"] == 0:
continue
for i in range(0,2): #maybe just (primaryframe,secondaryframe)
hh = i == 0 and primaryframe or secondaryframe
a.seek(hh["offset"]) # to data
h = oni.readrechead(a)
hhreal = oni.parsedatahead(a,h)
print h,hhreal
nid = h["nid"]
# TODO support for sizes different among streams
hhnode = r.streams[nid]
codec = hhnode["codec"]
size = hhnode["size"]
xres,yres = size
#TODO allow for other encodings
if codec == "jpeg":
rawdata = a.read(h["ps"])
# decompress always
b = io.BytesIO()
b.write(rawdata)
b.seek(0)
inc_i = Image.open(b)
# AS COLOR
hc = hh
if not modifycolor:
# preserve color as compressed
w.addframe(nid,hh["frameid"],hh["timestamp"],rawdata)
colordata = inc_i.tostring() #Image.tobytes(inc_i,encoder_name='raw')
elif codec == "16zt":
rawdata = a.read(h["ps"])
if ob is None:
ob = xndec.allocoutput16(xres*yres)
xndec.doXnStreamUncompressDepth16ZWithEmbTable(rawdata,ob)
aa = array.array("H")
aa.fromstring(ob)
# AS DEPTH
depthdata = aa
hd = hh
if modifycolor:
# depth is preserved in depthmode
w.addframe(nid,hh["frameid"],hh["timestamp"],rawdata)
else:
print "unsupported codec",codec
print "registering ",modifycolor and "newcolor" or "newdepth","depthframe(frame,time)",(hd["frameid"],hd["timestamp"]),"colorframe(frame,time)",(hc["frameid"],hc["timestamp"]),"deltaframe(c-d)(frame,time)",(hc["frameid"]-hd["frameid"],hc["timestamp"]-hd["timestamp"])
if modifycolor:
#anyregistration on (colordata,depthdata) -> colordataout
# autoalloc
print depthdata.__class__,len(depthdata),colordata.__class__,len(colordata),size
colordataout = anyregistration.doregister2color(colordataout,depthdata,colordata,size,model.Drgb,model.Krgb,size,model.Ddepth,model.Kdepth,model.R,model.T)
im = Image.frombytes("RGB", size, colordataout.raw, decoder_name='raw')
b = io.BytesIO()
im.save(b, 'JPEG')
w.addframe(idc,hd["frameid"],args.registersynctime and hd["timestamp"] or hc["timestamp"],b.getvalue()) # keep timestamp, discard frameid
print "\tcompressed from",xres*yres*3,"to",len(b.getvalue())
# TODO add option for faking timestamp
else:
#anyregistration (colordata,depthdata) -> depthdataout
depthdataout = anyregistration.doregister2depth(depthdataout,depthdata,colordata,size,model.Drgb,model.Krgb,size,model.Ddepth,model.Kdepth,model.R,model.T)
print "\tgenerated",depthdataout.__class__,len(depthdataout)
status,size = xndec.doXnStreamCompressDepth16ZWithEmbTable(depthdataout,ob,maxoutdepth)
print "\tcompressed from",xres*yres*2,"to",size
w.addframe(idd,hc["frameid"],args.registersynctime and hc["timestamp"] or hd["timestamp"],ob[0:size]) # keep timestamp, discard frameid
# TODO add option for faking timestamp
#TODO
#end
#removed DEVICE --> MISSING
#removed IMAGE -->
#seektable IMAGE
#removed DEPTH -->
#seektable DEPTH
w.finalize()
def extract(args,action,extractpath,a):
codec = None
foundhh = None
ob = None
extracttype = dict(extractboth=-1,extractcolor=oni.NODE_TYPE_IMAGE,extractdepth=oni.NODE_TYPE_DEPTH,extractir=oni.NODE_TYPE_IR)[action]
targetnid = None
seekframe = args.fseek
endframe = args.fduration < 0 and -1 or seekframe+args.fduration
# scan all and keep pre and last
r = oni.Reader(a)
while True:
h = r.next()
if h is None:
break
if h["rt"] == oni.RECORD_NODE_ADDED:
hh = oni.parseadded(a,h)
if hh["nodetype"] == extracttype:
targetnid = h["nid"]
codec = hh["codec"]
foundhh = hh
print "!!found matching for ",targetnid,codec
if codec == "16zt":
if xndec is None:
print "xndec is missing cannot decode to png"
sys.exit(-1)
if xndec.doXnStreamUncompressDepth16ZWithEmbTable is None:
print "xndec is doXnStreamUncompressDepth16ZWithEmbTable"
sys.exit(-1)
if png is None:
print "pypng is missing"
sys.exit(-1)
elif h["nid"] == targetnid:
if h["rt"] == oni.RECORD_NEW_DATA:
pd = oni.parsedatahead(a,h)
if pd["frameid"] >= seekframe and (endframe == -1 or pd["frameid"] < endframe):
print "newdata",pd["frameid"],h["ps"],h["fs"],codec
q = r.streams[h["nid"]]
xres,yres = q["size"]
if codec == "jpeg":
ext = "jpeg"
elif codec == "16zt":
ext = "png"
if ob is None:
ob = xndec.allocoutput16(xres*yres)
else:
ext = "bin"
outfile = "%s%d.%s" % (extractpath,pd["frameid"],ext)
print outfile,codec
of = open(outfile,"wb")
if codec == "jpeg":
of.write(a.read(h["ps"]))
elif codec == "16zt":
code,size = xndec.doXnStreamUncompressDepth16ZWithEmbTable(a.read(h["ps"]),ob)
aa = array.array("H")
aa.fromstring(ob)
rows = [aa[i*xres:(i+1)*xres] for i in range(0,yres)]
if args.coloreddepth:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres,height=yres,greyscale=True,bitdepth=8)
w.write(of,[[int(x*255.0/8000.0) for x in y] for y in rows])
else:
# save content of ob to PNG 16bit with size xres,yres
w = png.Writer(width=xres,height=yres,greyscale=True,bitdepth=16)
w.write(of,rows)
else:
print "unsupported codec",foundhh
sys.exit(0)
of.close()
elif endframe != -1 and pd["frameid"] >= endframe:
break