def binToAbstract(input_file):
UI().objectUI.showMessage("Starting to read bin file", "w")
f = open(input_file, "rb")
event_list = []
num_progress = getNumProgress(os.path.getsize(input_file) / 5)
i = 0
while True:
if i % num_progress == 0:
UI().objectUI.sumProgress()
i += 1
data = f.read(5)
if len(data) != 5:
break
x = int(data[0])
y = int(data[1])
p_ts = int.from_bytes(data[2:], "big")
p = p_ts >> 23
ts = p_ts & 8388607
event_list.append(Event(x, y, p, nsecsToSecs(ts)))
UI().objectUI.sumProgress(True)
UI().objectUI.showMessage("Finishing reading the bin file", "c")
return event_list
def abstractToRosbag(event_list, output_file):
UI().objectUI.showMessage("Starting to write bag file", "w")
bag = rosbag.Bag(output_file, "w")
c = Config()
if c.rosbag:
topic = c.config_data["rosbag"]["topic"]
else:
topic = UI().objectUI.simpleInput(
"Introduce the name of the topic where the events are going to be write: "
)
num_progress = getNumProgress(len(event_list))
for i, event in enumerate(event_list):
if i % num_progress == 0:
UI().objectUI.sumProgress()
e = _Event()
e.x = event.x
e.y = event.y
e.polarity = event.pol
e.ts = rospy.Time.from_sec(event.ts)
bag.write(topic, e)
UI().objectUI.sumProgress(True)
bag.close()
UI().objectUI.showMessage("Finishing writing the bag file", "c")
def abstractToBin(event_list, output_file):
UI().objectUI.showMessage("Starting to write bin file", "w")
f = open(output_file, "wb")
num_progress = getNumProgress(len(event_list))
for i, e in enumerate(event_list):
if i % num_progress == 0:
UI().objectUI.sumProgress()
p = '1' if e.pol else '0'
ts = '{0:023b}'.format(int(secsToNsecs(e.ts)))
p_ts = p + ts
# Raises exception if param bigger of what format accepts
try:
f.write(struct.pack('<B', e.x))
f.write(struct.pack('<B', e.y))
f.write(struct.pack('<B', int(p_ts[:8], 2)))
f.write(struct.pack('>H', int(p_ts[8:], 2)))
except Exception:
raise Exception("Larger parameter than the bin format accepts")
UI().objectUI.sumProgress(True)
f.close()
UI().objectUI.showMessage("Finishing writing the bin file", "c")
def abstractToAedat2(event_list, output_file):
UI().objectUI.showMessage("Starting to write aedat2 file", "w")
file = open(output_file, "wb")
for comment in cte.INITIAL_COMMENTS_AEDAT2:
file.write(comment.encode())
num_progress = getNumProgress(len(event_list))
for i, e in enumerate(event_list):
if i % num_progress == 0:
UI().objectUI.sumProgress()
x = '{0:07b}'.format(e.x)
y = '{0:07b}'.format(e.y)
if len(x) != 7 or len(y) != 7:
raise Exception("In AEDAT 2.0 x and y must be smaller than 128")
p = '1' if e.pol else '0'
address = "0" + y + x + p
ts = secsToNsecs(e.ts)
if ts >= TS_MAX:
raise Exception(
"Error, timestamp bigger than 4 bytes, cannot convert to aedat 2"
)
file.write(struct.pack('>I', int(address, 2)))
file.write(struct.pack('>I', int(ts)))
UI().objectUI.sumProgress(True)
file.close()
UI().objectUI.showMessage("Finishing writing the aedat2 file", "c")
def aedat2ToAbstract(input_file):
UI().objectUI.showMessage("Starting to read aedat2 file", "w")
# Read comments.
tam_comments = 0
in_comment = False
f = open(input_file, "rb")
while True:
char = f.read(1)[0]
if char == 35:
in_comment = True
elif char == 10 and in_comment:
in_comment = False
elif not in_comment:
break
tam_comments += 1
f.close()
# Read events
f = open(input_file, "rb")
f.read(tam_comments)
byt = bytearray()
is_address = True
event_list = []
x = 0
y = 0
p = 0
num_progress = getNumProgress(os.path.getsize(input_file) - tam_comments)
i = 0
for char in f.read():
if i % num_progress == 0:
UI().objectUI.sumProgress()
i += 1
byt += bytearray(char.to_bytes(1, 'big'))
if len(byt) == 4:
num = struct.unpack('>I', byt)[0]
byt = bytearray()
cad = '{0:016b}'.format(num)
if is_address:
is_address = False
y = int(cad[1:8], 2)
x = int(cad[8:15], 2)
p = cad[15] == '1'
else:
is_address = True
ts = nsecsToSecs(int(cad, 2))
event_list.append(Event(x, y, p, ts))
UI().objectUI.sumProgress(True)
UI().objectUI.showMessage("Finishing reading the aedat2 file", "c")
return event_list
def abstractToText(event_list, output_file):
UI().objectUI.showMessage("Starting to write txt file", "w")
f = open(output_file, "w")
num_progress = getNumProgress(len(event_list))
for i, event in enumerate(event_list):
if i % num_progress == 0:
UI().objectUI.sumProgress()
f.write("{:.9f} {} {} {}\n".format(
event.ts,
event.x,
event.y,
int(event.pol),
))
UI().objectUI.sumProgress(True)
f.close()
UI().objectUI.showMessage("Finishing writing the txt file", "c")
def textToAbstract(input_file):
UI().objectUI.showMessage("Starting to read txt file", "w")
events = open(input_file).readlines()
events_list = []
num_progress = getNumProgress(len(events))
for i, event in enumerate(events):
if i % num_progress == 0:
UI().objectUI.sumProgress()
data = event.strip('\n').split(' ')
events_list.append(
Event(
int(data[1]), # Integer
int(data[2]), # Integer
int(data[3]) == 1, # Boolean
float(data[0]) # Double
))
UI().objectUI.sumProgress(True)
UI().objectUI.showMessage("Finishing reading the txt file", "c")
return events_list
def abstractToAedat3(event_list, output_file):
UI().objectUI.showMessage("Starting to write aedat3 file", "w")
f = open(output_file, "wb")
for comment in cte.INITIAL_COMMENTS_AEDAT3:
f.write(comment.encode())
# Header
b = bytearray(28)
b[20:24] = struct.pack('<I', int(len(event_list)))
f.write(b)
# Events
num_progress = getNumProgress(len(event_list))
for i, e in enumerate(event_list):
if i % num_progress == 0:
UI().objectUI.sumProgress()
x = '{0:015b}'.format(e.x)
y = '{0:015b}'.format(e.y)
if len(x) != 15 or len(y) != 15:
raise Exception("In aedat3 x and y must be smaller than 32768")
p = '1' if e.pol else '0'
address = x + y + p + "0"
ts = secsToNsecs(e.ts)
if ts >= TS_MAX:
raise Exception(
"Error, timestamp bigger than 4 bytes, cannot convert to aedat3"
)
f.write(struct.pack('<I', int(address, 2)))
f.write(struct.pack('<I', int(ts)))
UI().objectUI.sumProgress(True)
f.close()
UI().objectUI.showMessage("Finishing writing the aedat3 file", "c")
def rosbagToAbstract(input_file):
UI().objectUI.showMessage("Starting to read bag file", "w")
bag = rosbag.Bag(input_file)
c = Config()
if c.rosbag:
topic = c.config_data["rosbag"]["topic"]
else:
topics = bag.get_type_and_topic_info().topics
topic = UI().objectUI.chooseWindow(
"Which is the topic that contains the events?: ", topics)
event_list = []
num_progress = getNumProgress(bag.get_message_count(topic))
i = 0
for topic, msg, t in bag.read_messages(topics=topic):
if i % num_progress == 0:
UI().objectUI.sumProgress()
i += 1
aux_list = []
if "EventArray" in str(type(msg)): # msg._type
aux_list = msg.events
else:
aux_list.append(msg)
for event in aux_list:
event_list.append(
Event(event.x, event.y, event.polarity,
combine(event.ts.secs, event.ts.nsecs)))
bag.close()
UI().objectUI.sumProgress(True)
UI().objectUI.showMessage("Finishing reading the bag file", "c")
return event_list
def matlabToAbstract(input_file):
UI().objectUI.showMessage("Starting to read mat file", "w")
structs_types = list(sio.whosmat(input_file))
file_data = sio.loadmat(input_file)
is_matrix = False
arrays = []
events = []
c = Config()
# Only one struct
if len(structs_types) == 1:
struct_name, struct_size, _ = structs_types[0]
# 1 struct
if struct_size == (1, 1):
UI().objectUI.showMessage("Detected 1 struct format", "i")
struct = file_data[struct_name]
if c.matlab:
names = c.config_data["matlab"]["1 struct"]["names"]
else:
names = list(
map(
lambda name: UI().objectUI.chooseWindow(
"Where is {}?: ".format(name),
list(struct.dtype.fields)),
cte.MATLAB_STRUCT_NAMES))
arrays = list(map(lambda name: struct[0][name][0], names))
# Matrix nx4
elif struct_size[1] == 4:
UI().objectUI.showMessage("Detected matrix nx4 format", "i")
is_matrix = True
matrix = file_data[struct_name]
if c.matlab:
indexes = c.config_data["matlab"]["Matrix nx4"]["indexes"]
else:
ln = matrix[-1]
UI().objectUI.showMessage(
"The last line of the matrix is [{}, {}, {}, {}]".format(
ln[0], ln[1], ln[2], ln[3]), "i")
indexes = list(
map(
lambda name: UI().objectUI.chooseWindow(
"Where is {}?: ".format(name), ln, True),
cte.MATLAB_STRUCT_NAMES))
arrays = list(map(lambda index: matrix[:, index], indexes))
# 4 structs (one for each event's parameter)
elif len(structs_types) == 4:
UI().objectUI.showMessage("Detected 4 structs format", "i")
options = list(map(lambda st: st[0], structs_types))
if c.matlab:
names = c.config_data["matlab"]["4 structs"]["names"]
else:
names = list(
map(
lambda name: UI().objectUI.chooseWindow(
"Where is {}?: ".format(name), options),
cte.MATLAB_STRUCT_NAMES))
arrays = list(map(lambda name: file_data[name], names))
if len(arrays) == 0:
raise Exception("No admitted format while reading mat file")
i = 0
num_progress = getNumProgress(len(arrays[0]))
if is_matrix:
def get_val(v):
return v
else:
def get_val(v):
return v[0]
for x, y, pol, ts in zip(arrays[0], arrays[1], arrays[2], arrays[3]):
if i % num_progress == 0:
UI().objectUI.sumProgress()
i += 1
events.append(
Event(get_val(x), get_val(y), get_val(pol),
nsecsToSecs(get_val(ts))))
UI().objectUI.sumProgress(True)
UI().objectUI.showMessage("Finishing reading the mat file", "c")
return events