def __init__(self, rgb_mov_f, depth_mov_f, shift = 2, depth_format = 0):
"""
This class the main functionality of interfacing with RGB-D video files. Whether for record or for reading from the corresponding files
"""
self.framesRGBD = None
self.depth_mov_f = depth_mov_f
self.rgb_mov_f = rgb_mov_f
self.depth_format = depth_format
self.RGBVideo = VideoStreamer(rgb_mov_f )
self.DepthVideo = VideoStreamer(depth_mov_f)
self.frame = 0 # The current frame index, it actually points to the true frame index of the depth video
self.frame_time = 0.0
(self.fps, self.N_frames, self.height, self.width) = self.RGBVideo.fps, self.RGBVideo.N_frames, self.RGBVideo.height, self.RGBVideo.width
self.shape = (self.width, self.height)
self.depth = 0
self.rgb = 0
self.shift = shift
self.recentIndex = True
self.jump(0)
def __init__(self, rgb_mov_f, depth_mov_f, shift=2, depth_format=0):
"""
This class the main functionality of interfacing with RGB-D video files. Whether for record or for reading from the corresponding files
"""
self.framesRGBD = None
self.depth_mov_f = depth_mov_f
self.rgb_mov_f = rgb_mov_f
self.depth_format = depth_format
self.RGBVideo = VideoStreamer(rgb_mov_f)
self.DepthVideo = VideoStreamer(depth_mov_f)
self.frame = 0 # The current frame index, it actually points to the true frame index of the depth video
self.frame_time = 0.0
(
self.fps, self.N_frames, self.height, self.width
) = self.RGBVideo.fps, self.RGBVideo.N_frames, self.RGBVideo.height, self.RGBVideo.width
self.shape = (self.width, self.height)
self.depth = 0
self.rgb = 0
self.shift = shift
self.recentIndex = True
self.jump(0)
class RGBDVideoStreamer():
"""
A class that simultaneously read two video files, one for depth and other for the RGB. It allows for a shift
"""
def __init__(self, rgb_mov_f, depth_mov_f, shift=2, depth_format=0):
"""
This class the main functionality of interfacing with RGB-D video files. Whether for record or for reading from the corresponding files
"""
self.framesRGBD = None
self.depth_mov_f = depth_mov_f
self.rgb_mov_f = rgb_mov_f
self.depth_format = depth_format
self.RGBVideo = VideoStreamer(rgb_mov_f)
self.DepthVideo = VideoStreamer(depth_mov_f)
self.frame = 0 # The current frame index, it actually points to the true frame index of the depth video
self.frame_time = 0.0
(
self.fps, self.N_frames, self.height, self.width
) = self.RGBVideo.fps, self.RGBVideo.N_frames, self.RGBVideo.height, self.RGBVideo.width
self.shape = (self.width, self.height)
self.depth = 0
self.rgb = 0
self.shift = shift
self.recentIndex = True
self.jump(0)
def __del__(self):
self.stop()
def stop(self):
if self.RGBVideo is not None:
self.RGBVideo.stop()
self.RGBVideo = None
if self.DepthVideo is not None:
self.DepthVideo.stop()
self.DepthVideo = None
self.depth = None
def getData(self):
self.__extractFrame()
if self.imgRGB is not None and self.imgDepth is not None:
self.depth = np.uint16(self.imgDepth)
if self.depth_format == 0:
# EYEDIAP format
# For the depth the blue channel contains the lowest 8 bits, the green
# channel has the 3 highest bits, but coded in the highest 3 bits, here
# it is shifted 3 bits to complete a total 8 bits shift. Finally a simple
# add will do the trick here
self.depth = self.depth[:, :, 2] + np.left_shift(
self.depth[:, :, 1], 3)
elif self.depth_format == 1:
# LSB in the Blue channel and MSB in the Green Channel
self.depth = self.depth[:, :, 2] + np.left_shift(
self.depth[:, :, 1], 8)
else:
# Red: LSB, Green: MSB and blue: MSB
self.depth = self.depth[:, :, 0] + np.left_shift(
self.depth[:, :, 1], 8)
#self.depth = self.depth[:,:,2]+np.left_shift(self.depth[:,:,1], 3)
self.rgb = self.imgRGB.copy()
return (self.depth, self.rgb)
else:
return None, None
def dataAvailable(self):
return not ((self.frame < 0) or (self.frame > self.N_frames - 1))
def jump(self, frame):
"""
Sets the pointer of the reader to the indicated frame number
"""
if self.shift > 0: # For negative shifts the depth video is ahead
frame = frame - self.shift
frame = max(frame, 0)
elif self.shift < 0:
frame = min(frame, self.N_frames - 1 + self.shift)
else:
frame = min(max(frame, 0), self.N_frames - 1)
self.DepthVideo.jump(frame)
self.RGBVideo.jump(frame)
self.recentIndex = True
self.frame = frame - 1
def __extractFrame(self):
if self.recentIndex: # A recent index flag means apply the shift to the lack of phase between the videos
if self.shift < 0:
for i in range(1 - self.shift):
self.imgDepth, frameIdx = self.DepthVideo.getFrame()
self.imgRGB, self.frame = self.RGBVideo.getFrame()
else:
self.imgDepth, frameIdx = self.DepthVideo.getFrame()
for i in range(1 + self.shift):
self.imgRGB, self.frame = self.RGBVideo.getFrame()
self.recentIndex = False
else:
if self.frame - self.shift >= 0 and self.frame - self.shift < self.N_frames:
self.imgDepth, frameIdx = self.DepthVideo.getFrame()
self.imgRGB, self.frame = self.RGBVideo.getFrame()
else:
self.imgRGB, self.imgDepth = None, None
class RGBDVideoStreamer():
"""
A class that simultaneously read two video files, one for depth and other for the RGB. It allows for a shift
"""
def __init__(self, rgb_mov_f, depth_mov_f, shift = 2, depth_format = 0):
"""
This class the main functionality of interfacing with RGB-D video files. Whether for record or for reading from the corresponding files
"""
self.framesRGBD = None
self.depth_mov_f = depth_mov_f
self.rgb_mov_f = rgb_mov_f
self.depth_format = depth_format
self.RGBVideo = VideoStreamer(rgb_mov_f )
self.DepthVideo = VideoStreamer(depth_mov_f)
self.frame = 0 # The current frame index, it actually points to the true frame index of the depth video
self.frame_time = 0.0
(self.fps, self.N_frames, self.height, self.width) = self.RGBVideo.fps, self.RGBVideo.N_frames, self.RGBVideo.height, self.RGBVideo.width
self.shape = (self.width, self.height)
self.depth = 0
self.rgb = 0
self.shift = shift
self.recentIndex = True
self.jump(0)
def __del__(self):
self.stop()
def stop(self):
if self.RGBVideo is not None:
self.RGBVideo.stop()
self.RGBVideo = None
if self.DepthVideo is not None:
self.DepthVideo.stop()
self.DepthVideo = None
self.depth = None
def getData(self):
self.__extractFrame()
if self.imgRGB is not None and self.imgDepth is not None:
self.depth = np.uint16(self.imgDepth)
if self.depth_format == 0:
# EYEDIAP format
# For the depth the blue channel contains the lowest 8 bits, the green
# channel has the 3 highest bits, but coded in the highest 3 bits, here
# it is shifted 3 bits to complete a total 8 bits shift. Finally a simple
# add will do the trick here
self.depth = self.depth[:, :, 2]+np.left_shift(self.depth[:, :, 1], 3)
elif self.depth_format == 1:
# LSB in the Blue channel and MSB in the Green Channel
self.depth = self.depth[:, :, 2]+np.left_shift(self.depth[:, :, 1], 8)
else:
# Red: LSB, Green: MSB and blue: MSB
self.depth = self.depth[:, :, 0]+np.left_shift(self.depth[:, :, 1], 8)
#self.depth = self.depth[:,:,2]+np.left_shift(self.depth[:,:,1], 3)
self.rgb = self.imgRGB.copy()
return (self.depth, self.rgb)
else:
return None, None
def dataAvailable(self):
return not ((self.frame < 0) or (self.frame > self.N_frames-1))
def jump(self, frame):
"""
Sets the pointer of the reader to the indicated frame number
"""
if self.shift > 0:# For negative shifts the depth video is ahead
frame = frame - self.shift
frame = max(frame,0)
elif self.shift < 0:
frame = min(frame, self.N_frames -1 + self.shift)
else:
frame = min(max(frame, 0), self.N_frames -1)
self.DepthVideo.jump(frame)
self.RGBVideo.jump(frame)
self.recentIndex = True
self.frame = frame - 1
def __extractFrame(self):
if self.recentIndex: # A recent index flag means apply the shift to the lack of phase between the videos
if self.shift<0:
for i in range(1-self.shift):
self.imgDepth, frameIdx = self.DepthVideo.getFrame()
self.imgRGB, self.frame = self.RGBVideo.getFrame()
else:
self.imgDepth, frameIdx = self.DepthVideo.getFrame()
for i in range(1+self.shift):
self.imgRGB, self.frame = self.RGBVideo.getFrame()
self.recentIndex = False
else:
if self.frame - self.shift >= 0 and self.frame-self.shift < self.N_frames:
self.imgDepth, frameIdx = self.DepthVideo.getFrame()
self.imgRGB, self.frame = self.RGBVideo.getFrame()
else:
self.imgRGB, self.imgDepth = None, None
