def get_message(self) -> XVIZMessage:
message = XVIZMessage(StateUpdate(
update_type=self._update_type,
updates=[self._get_streamset()],
),
buffers=[self._stream_buffers])
return message
def write_message(self, message: XVIZMessage, index: int = None):
self._check_valid()
if self._wrap_envelop:
obj = XVIZEnvelope(message).to_proto()
else:
obj = message.to_proto()
data = BytesIO()
# write PBE1 header
data.write(b'\x50\x42\x45\x31')
data.write(obj.SerializeToString())
fname = self._get_sequential_name(message, index) + '.pbe'
self._source.write(data.getvalue(), fname)
def write_message(self, message: XVIZMessage, index: int = None):
self._check_valid()
if self._wrap_envelop:
obj = XVIZEnvelope(message).to_object()
else:
obj = message.to_object()
builder = GLTFBuilder()
fname = self._get_sequential_name(message, index) + '.glb'
if isinstance(message.data, StateUpdate):
# Wrap image data and point cloud
if self._wrap_envelop:
dataobj = obj['data']['updates']
else:
dataobj = obj['updates']
if 'primitives' in dataobj:
for pdata in dataobj['primitives'].values():
# process point cloud
if 'points' in pdata:
for pldata in pdata['points']:
if 'points' in pldata:
pldata['points'] = array.array(
'f', pldata['points'])
# process images
if 'images' in pdata:
for imdata in pdata['points']:
imdata['data'] = ImageWrapper(
image=base64.b64decode(imdata['data']),
width=imdata['width_px'],
height=imdata['height_px'],
mime_type=
'image/png', # FIXME: use Pillow to detect type
)
# Encode GLB into file
packed_data = builder.pack_binary_json(obj)
if self._use_xviz_extension:
builder.add_extension(XVIZ_GLTF_EXTENSION, packed_data)
else:
builder.add_application_data('xviz', packed_data)
with self._source.open(fname) as fout:
builder.flush(fout)
def write_message(self, message: XVIZMessage, index: int = None):
self._check_valid()
if self._wrap_envelop:
obj = XVIZEnvelope(message).to_object()
else:
obj = message.to_object()
fname = self._get_sequential_name(message, index) + '.json'
# Encode GLB into file
result = [] # These codes are for float truncation
for part in json.JSONEncoder(separators=(',', ':')).iterencode(obj):
try:
rounded = round(float(part), self._json_precision)
except ValueError:
pass
else:
part = str(rounded)
result.append(part)
self._source.write(''.join(result).encode('ascii'), fname)
def get_message(self):
return XVIZMessage(metadata=self.get_data())
def write_message(self, message: XVIZMessage, index: int = None):
self._check_valid()
if self._wrap_envelop:
obj = XVIZEnvelope(message).to_object()
else:
obj = message.to_object()
builder = GLTFBuilder()
fname = self._get_sequential_name(message, index) + '.glb'
if isinstance(message.data, StateUpdate):
# Wrap image data and point cloud
if self._wrap_envelop:
dataobjs = obj['data']['updates']
else:
dataobjs = obj['updates']
for dataobj in dataobjs:
if 'primitives' in dataobj:
for pdata in dataobj['primitives'].values():
# convert lists into typed arrays to leverage binary format
if 'points' in pdata:
for pldata in pdata['points']:
num_points = None
if 'points' in pldata:
num_points = len(pldata['points']) // 3
pldata['points'] = TypedArrayWrapper(
array=array.array(
'f', pldata['points']),
size=3,
)
if 'colors' in pldata:
# infer size from num_points
assert num_points is not None
color_bytes = bytes(pldata['colors'])
size = len(color_bytes) // num_points
assert size in (
3, 4
), 'expecting size to be 3 or 4, got %s' % size
pldata['colors'] = TypedArrayWrapper(
array=color_bytes,
size=size,
)
if 'polylines' in pdata:
for pldata in pdata['polylines']:
if 'vertices' in pldata:
pldata['vertices'] = TypedArrayWrapper(
array=array.array(
'f', pldata['vertices']),
size=3,
)
if 'polygons' in pdata:
for pldata in pdata['polygons']:
if 'vertices' in pldata:
pldata['vertices'] = TypedArrayWrapper(
array=array.array(
'f', pldata['vertices']),
size=3,
)
# process images
if 'images' in pdata:
for imdata in pdata['images']:
imdata['data'] = ImageWrapper(
image=base64.b64decode(imdata['data']),
width=imdata['width_px'],
height=imdata['height_px'],
mime_type=
'image/png', # FIXME: use Pillow to detect type
)
# Encode GLB into file
packed_data = builder.pack_binary_json(obj)
if self._use_xviz_extension:
builder.add_extension(XVIZ_GLTF_EXTENSION, packed_data)
else:
builder.add_application_data('xviz', packed_data)
with self._source.open(fname, mode='w') as fout:
builder.flush(fout)
def write_message(self, message: XVIZMessage, index: int = None):
self._check_valid()
if self._wrap_envelop:
obj = XVIZEnvelope(message).to_object(unravel='partial')
else:
obj = message.to_object(unravel='partial')
builder = GLTFBuilder()
fname = self._get_sequential_name(message, index) + '.glb'
if isinstance(message._data, StateUpdate):
# Wrap image data and point cloud
if self._wrap_envelop:
dataobjs = obj['data']['updates']
else:
dataobjs = obj['updates']
for dataobj in dataobjs:
if 'primitives' in dataobj:
for pdata in dataobj['primitives'].values():
# convert lists into typed arrays to leverage binary format
if 'points' in pdata:
for pldata in pdata['points']:
num_points = None
if 'points' in pldata:
num_points = len(pldata['points']) // 3
pldata['points'] = TypedArrayWrapper(
array=pldata['points'], size=3)
if 'colors' in pldata:
# infer size from num_points
assert num_points is not None, "No points are provided in the stream"
color_bytes = bytes(pldata['colors'])
size = len(color_bytes) // num_points
assert size in (
3, 4
), 'expecting size to be 3 or 4, got %s' % size
pldata['colors'] = TypedArrayWrapper(
array=color_bytes,
size=size,
)
if 'polylines' in pdata:
for pldata in pdata['polylines']:
if 'vertices' in pldata:
pldata['vertices'] = TypedArrayWrapper(
array=array.array(
'f', pldata['vertices']),
size=3,
)
if 'polygons' in pdata:
for pldata in pdata['polygons']:
if 'vertices' in pldata:
pldata['vertices'] = TypedArrayWrapper(
array=array.array(
'f', pldata['vertices']),
size=3,
)
# process images
if 'images' in pdata:
for imdata in pdata['images']:
image = imdata['data']
data = BytesIO()
image.save(data, format=self._image_encoding)
mime = mimetypes.types_map[
'.' + self._image_encoding.lower()]
imdata['data'] = ImageWrapper(
data=data.getvalue(),
width=image.width,
height=image.height,
mime_type=mime)
# Encode GLB into file
packed_data = builder.pack_binary_json(obj)
if self._use_xviz_extension:
builder.add_extension(XVIZ_GLTF_EXTENSION, packed_data)
else:
builder.add_application_data('xviz', packed_data)
with self._source.open(fname, mode='w') as fout:
builder.flush(fout)
def get_message(self):
message = XVIZMessage(
StateUpdate(update_type=self._update_type,
updates=[self.get_data().data]))
return message