def test_run_command_smokescreen() -> None:
"""
Do not check output, just verify import works
and does not crash.
"""
cmd = "echo 5678"
run_command(cmd)
def visualize_ground_lidar_pts(log_id: str, dataset_dir: str,
experiment_prefix: str):
"""Process a log by drawing the LiDAR returns that are classified as belonging
to the ground surface in a red to green colormap in the image.
Args:
log_id: The ID of a log
dataset_dir: Where the dataset is stored
experiment_prefix: Output prefix
"""
sdb = SynchronizationDB(dataset_dir, collect_single_log_id=log_id)
city_info_fpath = f"{dataset_dir}/{log_id}/city_info.json"
city_info = read_json_file(city_info_fpath)
city_name = city_info["city_name"]
avm = ArgoverseMap()
ply_fpaths = sorted(glob.glob(f"{dataset_dir}/{log_id}/lidar/PC_*.ply"))
for i, ply_fpath in enumerate(ply_fpaths):
if i % 500 == 0:
print(f"\tOn file {i} of {log_id}")
lidar_timestamp_ns = ply_fpath.split("/")[-1].split(".")[0].split(
"_")[-1]
pose_fpath = f"{dataset_dir}/{log_id}/poses/city_SE3_egovehicle_{lidar_timestamp_ns}.json"
if not Path(pose_fpath).exists():
continue
pose_data = read_json_file(pose_fpath)
rotation = np.array(pose_data["rotation"])
translation = np.array(pose_data["translation"])
city_to_egovehicle_se3 = SE3(rotation=quat2rotmat(rotation),
translation=translation)
lidar_pts = load_ply(ply_fpath)
lidar_timestamp_ns = int(lidar_timestamp_ns)
draw_ground_pts_in_image(
sdb,
lidar_pts,
city_to_egovehicle_se3,
avm,
log_id,
lidar_timestamp_ns,
city_name,
dataset_dir,
experiment_prefix,
)
for camera_name in CAMERA_LIST:
if "stereo" in camera_name:
fps = 5
else:
fps = 10
cmd = f"ffmpeg -r {fps} -f image2 -i '{experiment_prefix}_ground_viz/{log_id}/{camera_name}/%*.jpg' {experiment_prefix}_ground_viz/{experiment_prefix}_{log_id}_{camera_name}_{fps}fps.mp4"
print(cmd)
run_command(cmd)
def ffmpeg_compress_video(uncompressed_mp4_path: str, fps: int) -> None:
"""Generate compressed version of video, and delete uncompressed version.
Args:
img_wildcard: path to video to compress
"""
codec_params_string = get_ffmpeg_codec_params_string()
fname_stem = Path(uncompressed_mp4_path).stem
compressed_mp4_path = f"{Path(uncompressed_mp4_path).parent}/{fname_stem}_compressed.mp4"
cmd = f"ffmpeg -r {fps} -i {uncompressed_mp4_path} {codec_params_string} {compressed_mp4_path}"
print(cmd)
run_command(cmd)
os.remove(uncompressed_mp4_path)
def write_nonsequential_idx_video(img_wildcard: str, output_fpath: str,
fps: int) -> None:
"""
Args:
img_wildcard: string
output_fpath: string
fps: integer, frames per second
"""
codec_params_string = get_ffmpeg_codec_params_string()
cmd = f"ffmpeg -r {fps} -f image2 -i {img_wildcard} {codec_params_string} {output_fpath}"
print(cmd)
run_command(cmd)
def write_video(image_prefix: str, output_prefix: str, fps: int = 10) -> None:
"""
Use FFMPEG to write a video to disk, from a sequence of images.
Args:
image_prefix: string, with %d embedded inside and ending with
a prefix, e.g. .png/.jpg. Absolute path
output_prefix: absolute path for output video, without .mp4 prefix
fps: integer, frames per second
"""
codec_params_string = get_ffmpeg_codec_params_string()
cmd = f"ffmpeg -r {fps} -i {image_prefix} {codec_params_string} {output_prefix}_{fps}fps.mp4"
print(cmd)
run_command(cmd)
def test_run_command_cat() -> None:
"""
Execute a command to dump a string to standard output. Returned
output will be in byte format with a carriage return.
"""
cmd = "echo 5678"
stdout_data, stderr_data = run_command(cmd, return_output=True)
assert stderr_data is None
assert stdout_data == "5678\n".encode()
def write_nonsequential_idx_video(img_wildcard: str, output_fpath: str,
fps: int) -> None:
"""
Args:
img_wildcard: string
output_fpath: string
fps: integer, frames per second
Returns:
None
"""
cmd = f"ffmpeg -r {fps} -f image2 -i {img_wildcard}"
cmd += " -vcodec libx264 -profile:v main"
cmd += " -level 3.1 -preset medium -crf 23 -x264-params ref=4 -acodec"
cmd += " copy -movflags +faststart -pix_fmt yuv420p -vf scale=920:-2"
cmd += f" {output_fpath}"
print(cmd)
run_command(cmd)
def write_video(image_prefix: str, output_prefix: str, fps: int = 10) -> None:
"""
Use FFMPEG to write a video to disk, from a sequence of images.
Args:
image_prefix: string, with %d embedded inside and ending with
a prefix, e.g. .png/.jpg. Absolute path
output_prefix: absolute path for output video, without .mp4 prefix
fps: integer, frames per second
Returns:
None
"""
cmd = f"ffmpeg -r {fps} -i {image_prefix} -vcodec libx264 -profile:v main"
cmd += " -level 3.1 -preset medium -crf 23 -x264-params ref=4 -acodec"
cmd += f" copy -movflags +faststart -pix_fmt yuv420p -vf scale=920:-2 {output_prefix}_{fps}fps.mp4"
print(cmd)
run_command(cmd)
