mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 03:30:18 +08:00
Delete multicamera_sync
This commit is contained in:
jj
@@ -1,42 +0,0 @@
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{
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"deviceVid": "0x2BC5",
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"devicePid": "0x0800",
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"primarySerialNumber": "CP1S34D0004J",
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"devices": [{
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"index": 0,
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"isPrimaryDevice": true,
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"vid": "0x2BC5",
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"pid": "0x0800",
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"name": "Orbbec Gemini 335",
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"firmwareVersion": "1.3.64",
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"serialNumber": "CP1S34D0004J",
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"hardwareVersion": "0.1",
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"ipAddress": "0.0.0.0",
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"extensionInfo": {
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"ExtensionInfo": {
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"IspFwVer": "20240820",
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"IspNeedVer": "20240820",
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"HwType": "R1",
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"HwVer": "V1.1"
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}
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}
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}, {
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"index": 1,
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"isPrimaryDevice": false,
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"vid": "0x2BC5",
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"pid": "0x0800",
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"name": "Orbbec Gemini 335",
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"firmwareVersion": "1.3.64",
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"serialNumber": "CP1S34D00038",
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"hardwareVersion": "0.1",
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"ipAddress": "0.0.0.0",
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"extensionInfo": {
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"ExtensionInfo": {
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"IspFwVer": "20240820",
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"IspNeedVer": "20240820",
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"HwType": "R1",
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"HwVer": "V1.0"
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}
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}
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}]
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}
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@@ -1,5 +0,0 @@
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[Parameter]
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# 单位：FPS,请依据数据集实际帧率填写，否则会导致匹配不准确
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frameRate=60
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# 单位：ms，当匹配后某组数据帧的时间戳极差大于等于tspRangeThreshold，文件名会增加标注
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tspRangeThreshold=4
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@@ -1,97 +0,0 @@
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import os
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import subprocess
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import json
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import platform
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def list_subdirectories(path):
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# 遍历指定目录
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for f in os.listdir(path):
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# 判断是否是子目录
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if os.path.isdir(os.path.join(path, f)):
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yield f
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def read_pid_from_device_json(frames_dir):
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file_path = frames_dir + "/DevicesInfo.txt"
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if not os.path.exists(file_path):
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print(file_path + " not exists. Please check it")
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return ""
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with open(file_path, 'r') as f:
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data = json.load(f)
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if not 'devicePid' in data:
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print("Not found 'devicePid' in " + file_path)
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return ""
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return data['devicePid']
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def execute_sync_width_pid(frames_dir, pid):
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sync_script_file=""
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if pid.lower() == "0x0675":
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sync_script_file="script/config_frameMatch_Gemini2VL.py"
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elif pid.lower() == "0x0670" or pid.lower() == "0x0701":
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sync_script_file="script/config_frameMatch-systemTimestamp.py"
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elif pid.lower() == "0x0660":
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sync_script_file="script/config_frameMatch-Astra2_new.py"
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elif pid.lower() == "0x0800" or pid.lower() == "0x0804" or pid.lower() == "0x0803" or pid.lower() == "0x0807" or pid.lower() == "0x0801" or pid.lower() == "0x0805" or pid.lower() == "0x080b" or pid.lower() == "0x080e" or pid.lower() == "0x080f" or pid.lower() == "0x0A13":
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sync_script_file="script/config_frameMatch_g330.py"
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else:
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sync_script_file="script/config_frameMatch.py"
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if len(sync_script_file) > 0:
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print(f"execute synchronize frames. script_file={sync_script_file}, frames_dir={frames_dir}")
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if platform.system() == "Windows":
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output = subprocess.check_output(["python", sync_script_file, os.path.abspath(f"{frames_dir}"), os.getcwd()])
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print(output.decode("gbk"))
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else:
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output = subprocess.check_output(["python3", sync_script_file, os.path.abspath(f"{frames_dir}"), os.getcwd()])
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print(output.decode("utf-8"))
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else:
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print("Invalid pid=" + pid + ", not match sync frame script")
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def sync_frames(frames_dir):
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pid = read_pid_from_device_json(frames_dir)
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if len(pid) <= 0:
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print("Get pid failed.")
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return
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execute_sync_width_pid(frames_dir, pid)
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def main():
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# 指定目录路径
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frames_output_path = os.path.abspath("../output")
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# 获取所有子目录
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subdirectories = list(list_subdirectories(frames_output_path))
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if not subdirectories:
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print("No subdirectories found in the specified directory.")
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# 打印子目录列表并让用户选择
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for i, subdir in enumerate(subdirectories):
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print(f"{i + 1}. {subdir}")
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# 获取用户输入
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choice = input("Please select a subdirectory by number (or 'q' to quit): ")
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if choice.lower() == 'q':
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return
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# 验证用户输入
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is_index_valid = False
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try:
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index = int(choice) - 1
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if 0 <= index < len(subdirectories):
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is_index_valid = True
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else:
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print(f"Invalid choice. index={index}. Please enter a number between 1 and the total number of subdirectories.")
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except ValueError:
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print("Invalid choice(ValueException). Please enter a number between 1 and the total number of subdirectories")
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if is_index_valid:
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selected_subdir = subdirectories[index]
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print(f"You selected the subdirectory: {selected_subdir}")
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sync_frames(f"{frames_output_path }/{selected_subdir}")
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if __name__ == "__main__":
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main()
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@@ -1,385 +0,0 @@
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import os.path
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import argparse
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import sys
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import json
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import shutil
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import configparser
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from pathlib import Path
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from datetime import datetime
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## Config.ini中配置
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# 单位：FPS,请依据数据集实际帧率填写，否则会导致匹配不准确
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frameRate = -1
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# 单位：ms，当匹配后某组数据帧的时间戳极差大于等于tspRangeThreshold，文件名会增加标注
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tspRangeThreshold = -1
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## Python脚本自动解析, 不要修改
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primaryId = '-1' #主机ID
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mainPythonWorkPath = "" # SyncFramesMain.py的工作目录
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sourceFramesPath = "" # 请勿修改，固定值,TotalMode目录路径
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sourceRootPath = "" # 存放TotalMode的根目录
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resultPath = "" # 保存sync分析结果
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streamProfileDict = dict() # 保存Python结果
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class PictureInfo(object):
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class Struct(object):
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def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
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self.deviceId = deviceId
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self.sensorType = sensorType
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self.syncTimeStamp = syncTimeStamp
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self.picturePath = picturePath
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self.deviceIdFull = deviceIdFull
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self.fileExt = fileExt
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def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
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return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
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class StreamProfileInfo:
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def __init__(self, sensorType, width, height, format, fps):
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self.sensorType = sensorType
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self.width = width
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self.height = height
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self.format = format
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self.fps = fps
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def initPrimaryId():
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global primaryId
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deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
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if not os.path.exists(deviceInfoPath):
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print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
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return False
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with open(deviceInfoPath, 'r') as f:
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data = json.load(f)
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if not 'devices' in data:
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print(f"Initialize primaryId failed. {deviceInfoPath} not contain item 'devices'")
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return False
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for item in data['devices']:
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if 'isPrimaryDevice' in item and 'index' in item and item['isPrimaryDevice']:
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primaryId = str(item['index'])
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return True
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return False
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def initSyncConfigParams():
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global frameRate, tspRangeThreshold
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configPath = f"{mainPythonWorkPath}/Config.ini"
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if not os.path.exists(configPath):
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print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
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return False
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# 创建ConfigParser对象
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config = configparser.ConfigParser()
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# 读取ini文件
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config.read(configPath, 'utf-8')
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if not config.has_option('Parameter', 'frameRate'):
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print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
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return False
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if not config.has_option('Parameter', 'tspRangeThreshold'):
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print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
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return False
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frameRate = config.getfloat('Parameter', 'frameRate')
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if frameRate <= 0 or frameRate >= 1000:
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print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
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return False
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tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
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if tspRangeThreshold <= 0:
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print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
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return False
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return True
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def getDeviceCount():
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deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
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if not os.path.exists(deviceInfoPath):
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print(f"Get device count failed. {deviceInfoPath} not exists")
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return 0
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with open(deviceInfoPath, 'r') as f:
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data = json.load(f)
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if not 'devices' in data:
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print(f"Get device count failed. {deviceInfoPath} not contain item 'devices'")
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return 0
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return len(data['devices'])
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def initProfileInfoDict():
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global streamProfileDict
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streamProfileDict = dict()
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profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
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if not os.path.exists(profilePath):
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print(f"Initialize profile information dictionary failed. {profilePath} not exists")
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return False
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with open(profilePath, 'r') as f:
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data = json.load(f)
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if not 'streamProfiles' in data:
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print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
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return False
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for item in data['streamProfiles']:
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if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
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profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
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streamProfileDict.setdefault(item['sensorType'], profileInfo)
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else:
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print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
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return len(streamProfileDict.items()) > 0
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def initResultDir():
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global resultPath
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timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
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resultPath = f"{sourceRootPath}/results-{timeText}"
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if not os.path.exists(resultPath):
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os.makedirs(resultPath)
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def isFrameFile(fileName):
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fileExt = os.path.splitext(fileName)
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if len(fileExt) < 2:
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return False
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frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
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return fileExt[1] in frameExts
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def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
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frameFileCount = 0
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for dirpath, dirnames, filenames in os.walk(rootFilePath):
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# print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
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for fileName in filenames:
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filePath = os.path.join(dirpath, fileName)
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if not isFrameFile(fileName):
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continue
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frameFileCount += 1
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fileNameNoExt = os.path.splitext(fileName)[0]
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pictureNameList = fileNameNoExt.split('_')
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deviceId = pictureNameList[2][5:]
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sensorType = pictureNameList[0].replace('#', '_')
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syncTimeStamp = int(pictureNameList[3][1:])
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# 创建结构体
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pictureInfo = PictureInfo()
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info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
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# 格式化字典一个key对应一个数组
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pictureInfoDict.setdefault(deviceId, []).append(info)
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if 0 == frameFileCount:
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print("initialize pictureInfoDict failed. Not found frame file")
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def matchFrame(pictureInfoDict):
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global primaryId, frameRate
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global streamProfileDict
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# 获取比较图像数组,取第一个设备的Color数组来进行比较
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compareList = []
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for key in pictureInfoDict:
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listTmp = list(pictureInfoDict[key])
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for info in listTmp:
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if info.deviceId == primaryId and info.sensorType == 'color':
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compareList.append(info)
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sorted_dict = dict(sorted(pictureInfoDict.items(), key=lambda x: x[1], reverse=False))
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pictureInfoDict = sorted_dict
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# 根据开流情况动态分析，减少循环次数
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hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
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hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
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hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
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# 匹配相邻帧
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resultDict = {}
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consumedList = []
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dictIndex = 0
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frameTspGap = int(1000.0/frameRate+0.5)
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for comparePic in compareList:
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resultDict.setdefault(dictIndex, []).append(comparePic)
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for key in pictureInfoDict:
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listTmp = list(pictureInfoDict[key])
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# 对比彩色
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if hasColorProfile:
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for info in listTmp:
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if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
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continue
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if info in consumedList:
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continue
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if info.sensorType == 'color' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
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resultDict.setdefault(dictIndex, []).append(info)
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consumedList.append(info)
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break
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# 对Depth
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if hasDepthProfile:
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for info in listTmp:
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if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
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continue
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if info in consumedList:
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continue
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if info.sensorType == 'depth' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
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resultDict.setdefault(dictIndex, []).append(info)
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consumedList.append(info)
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break
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# IR
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if hasIRProfile:
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for info in listTmp:
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if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
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continue
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if info in consumedList:
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continue
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if info.sensorType == 'ir' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
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resultDict.setdefault(dictIndex, []).append(info)
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consumedList.append(info)
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break
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# 计算偏差
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for info in resultDict[dictIndex]:
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info.tspDiff = info.syncTimeStamp - comparePic.syncTimeStamp
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dictIndex += 1
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return resultDict
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def safe_make_dir(path):
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if not os.path.exists(path):
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os.makedirs(path)
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def handleSyncFrames():
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global resultPath
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global sourceFramesPath
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global streamProfileDict
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fp = open(f"{resultPath}/frameMatchLog.txt", "w")
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if not initProfileInfoDict():
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print("Initialize stream profile dictionary failed. exit")
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return
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print(f"Stream profiles: {streamProfileDict}")
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streamProfileCount = len(streamProfileDict.items())
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pictureInfoDict = {}
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initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
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if len(pictureInfoDict) <= 0:
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print("init pictureInfoDict failed. pictureInfoDict.len = 0")
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return
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# # Dump pictureInfoDict
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# for key in pictureInfoDict:
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# print("===================key:%s" % key)
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# listTmp = list(pictureInfoDict[key])
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# for info in listTmp:
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# print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
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deviceCount = getDeviceCount()
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print("=================device count:%d" % deviceCount)
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|
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resultDict = {}
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resultDict = matchFrame(pictureInfoDict)
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for key in resultDict:
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fp.write("===================result key:%s\n" % key)
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print("===================result key:%s" % key)
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listTmp = list(resultDict[key])
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for info in listTmp:
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fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
|
||||
matchPath = f"{resultPath}/matchFrames/"
|
||||
safe_make_dir(matchPath)
|
||||
notMatchPath = f"{resultPath}/notMatchFrames/"
|
||||
abnormalPath = f"{resultPath}/abnormal/"
|
||||
|
||||
for key in resultDict:
|
||||
listTmp = list(resultDict[key])
|
||||
if (len(listTmp) == (deviceCount * streamProfileCount)):
|
||||
haveAbnormalData = False
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
haveAbnormalData = True
|
||||
else:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
|
||||
if haveAbnormalData:
|
||||
safe_make_dir(abnormalPath)
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
safe_make_dir(notMatchPath)
|
||||
for info in listTmp:
|
||||
newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, newFilePath)
|
||||
|
||||
def main():
|
||||
if not initPrimaryId():
|
||||
print("Initialize primaryId failed. exit.")
|
||||
return
|
||||
|
||||
if not initSyncConfigParams():
|
||||
print("Initialized Sync config parameter failed. exit.")
|
||||
return
|
||||
|
||||
initResultDir()
|
||||
|
||||
print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
|
||||
handleSyncFrames()
|
||||
|
||||
return
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Astra2'")
|
||||
parser.add_argument('frames_dir', type=str, help="Frames directory")
|
||||
parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
|
||||
args = parser.parse_args()
|
||||
|
||||
sourceRootPath = args.frames_dir
|
||||
sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
|
||||
mainPythonWorkPath = args.main_script_root_dir
|
||||
print(f"Start of Astra2 synchronize frame. sourceRootPath={sourceRootPath}")
|
||||
|
||||
main()
|
||||
|
||||
print("Finish of Astra2 synchronize frame.")
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
-408
@@ -1,408 +0,0 @@
|
||||
import os.path
|
||||
import argparse
|
||||
import sys
|
||||
import json
|
||||
import shutil
|
||||
import configparser
|
||||
|
||||
from pathlib import Path
|
||||
from datetime import datetime
|
||||
|
||||
## Config.ini中配置
|
||||
# 单位：FPS,请依据数据集实际帧率填写，否则会导致匹配不准确
|
||||
frameRate = -1
|
||||
# 单位：ms，当匹配后某组数据帧的时间戳极差大于等于tspRangeThreshold，文件名会增加标注
|
||||
tspRangeThreshold = -1
|
||||
|
||||
## Python脚本自动解析, 不要修改
|
||||
primaryId = '-1' #主机ID
|
||||
mainPythonWorkPath = "" # SyncFramesMain.py的工作目录
|
||||
sourceFramesPath = "" # 请勿修改，固定值,TotalMode目录路径
|
||||
sourceRootPath = "" # 存放TotalMode的根目录
|
||||
resultPath = "" # 保存sync分析结果
|
||||
streamProfileDict = dict() # 保存Python结果
|
||||
|
||||
class PictureInfo(object):
|
||||
class Struct(object):
|
||||
def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
|
||||
self.deviceId = deviceId
|
||||
self.sensorType = sensorType
|
||||
self.syncTimeStamp = syncTimeStamp
|
||||
self.picturePath = picturePath
|
||||
self.deviceIdFull = deviceIdFull
|
||||
self.fileExt = fileExt
|
||||
|
||||
def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
|
||||
return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
|
||||
|
||||
class StreamProfileInfo:
|
||||
def __init__(self, sensorType, width, height, format, fps):
|
||||
self.sensorType = sensorType
|
||||
self.width = width
|
||||
self.height = height
|
||||
self.format = format
|
||||
self.fps = fps
|
||||
|
||||
def initPrimaryId():
|
||||
global primaryId
|
||||
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
|
||||
return False
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return False
|
||||
|
||||
for item in data['devices']:
|
||||
if 'isPrimaryDevice' in item and 'index' in item and item['isPrimaryDevice']:
|
||||
primaryId = str(item['index'])
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
def initSyncConfigParams():
|
||||
global frameRate, tspRangeThreshold
|
||||
|
||||
configPath = f"{mainPythonWorkPath}/Config.ini"
|
||||
if not os.path.exists(configPath):
|
||||
print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
|
||||
return False
|
||||
|
||||
# 创建ConfigParser对象
|
||||
config = configparser.ConfigParser()
|
||||
|
||||
# 读取ini文件
|
||||
config.read(configPath, 'utf-8')
|
||||
|
||||
if not config.has_option('Parameter', 'frameRate'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
|
||||
return False
|
||||
|
||||
if not config.has_option('Parameter', 'tspRangeThreshold'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
|
||||
return False
|
||||
|
||||
frameRate = config.getfloat('Parameter', 'frameRate')
|
||||
if frameRate <= 0 or frameRate >= 1000:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
|
||||
return False
|
||||
|
||||
tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
|
||||
if tspRangeThreshold <= 0:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def getDeviceCount():
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Get device count failed. {deviceInfoPath} not exists")
|
||||
return 0
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Get device count failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return 0
|
||||
|
||||
return len(data['devices'])
|
||||
|
||||
def initProfileInfoDict():
|
||||
global streamProfileDict
|
||||
|
||||
streamProfileDict = dict()
|
||||
profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
|
||||
if not os.path.exists(profilePath):
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not exists")
|
||||
return False
|
||||
|
||||
with open(profilePath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'streamProfiles' in data:
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
|
||||
return False
|
||||
|
||||
for item in data['streamProfiles']:
|
||||
if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
|
||||
profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
|
||||
streamProfileDict.setdefault(item['sensorType'], profileInfo)
|
||||
else:
|
||||
print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
|
||||
|
||||
return len(streamProfileDict.items()) > 0
|
||||
|
||||
def initResultDir():
|
||||
global resultPath
|
||||
timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
|
||||
resultPath = f"{sourceRootPath}/results-{timeText}"
|
||||
if not os.path.exists(resultPath):
|
||||
os.makedirs(resultPath)
|
||||
|
||||
def isFrameFile(fileName):
|
||||
fileExt = os.path.splitext(fileName)
|
||||
if len(fileExt) < 2:
|
||||
return False
|
||||
|
||||
frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
|
||||
return fileExt[1] in frameExts
|
||||
|
||||
def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
|
||||
frameFileCount = 0
|
||||
for dirpath, dirnames, filenames in os.walk(rootFilePath):
|
||||
# print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
|
||||
for fileName in filenames:
|
||||
filePath = os.path.join(dirpath, fileName)
|
||||
if not isFrameFile(fileName):
|
||||
continue
|
||||
|
||||
frameFileCount += 1
|
||||
fileNameNoExt = os.path.splitext(fileName)[0]
|
||||
pictureNameList = fileNameNoExt.split('_')
|
||||
deviceId = pictureNameList[2][5:]
|
||||
sensorType = pictureNameList[0].replace('#', '_')
|
||||
syncTimeStamp = int(pictureNameList[5][1:])
|
||||
|
||||
# 创建结构体
|
||||
pictureInfo = PictureInfo()
|
||||
info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
|
||||
|
||||
# 格式化字典一个key对应一个数组
|
||||
pictureInfoDict.setdefault(deviceId, []).append(info)
|
||||
|
||||
if 0 == frameFileCount:
|
||||
print("initialize pictureInfoDict failed. Not found frame file")
|
||||
|
||||
|
||||
def matchFrame(pictureInfoDict):
|
||||
global primaryId, frameRate
|
||||
global streamProfileDict
|
||||
|
||||
# 获取比较图像数组,取第一个设备的Color数组来进行比较
|
||||
compareList = []
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == 'color':
|
||||
compareList.append(info)
|
||||
|
||||
# 根据开流情况动态分析，减少循环次数
|
||||
hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
|
||||
hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
|
||||
hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
|
||||
hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
|
||||
hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
|
||||
|
||||
# 匹配相邻帧
|
||||
resultDict = {}
|
||||
consumedList = []
|
||||
dictIndex = 0
|
||||
frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
|
||||
for comparePic in compareList:
|
||||
resultDict.setdefault(dictIndex, []).append(comparePic)
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
# 对比彩色
|
||||
if hasColorProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对Depth
|
||||
if hasDepthProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# IR
|
||||
if hasIRProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 左IR
|
||||
if hasIRLeftProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 右IR
|
||||
if hasIRRightProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 计算偏差
|
||||
minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
|
||||
for info in resultDict[dictIndex]:
|
||||
info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
|
||||
|
||||
dictIndex += 1
|
||||
|
||||
return resultDict
|
||||
|
||||
|
||||
def safe_make_dir(path):
|
||||
if not os.path.exists(path):
|
||||
os.makedirs(path)
|
||||
|
||||
|
||||
def handleSyncFrames():
|
||||
global resultPath
|
||||
global sourceFramesPath
|
||||
global streamProfileDict
|
||||
|
||||
fp = open(f"{resultPath}/frameMatchLog.txt", "w")
|
||||
|
||||
if not initProfileInfoDict():
|
||||
print("Initialize stream profile dictionary failed. exit")
|
||||
return
|
||||
print(f"Stream profiles: {streamProfileDict}")
|
||||
streamProfileCount = len(streamProfileDict.items())
|
||||
|
||||
pictureInfoDict = {}
|
||||
|
||||
initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
|
||||
if len(pictureInfoDict) <= 0:
|
||||
print("init pictureInfoDict failed. pictureInfoDict.len = 0")
|
||||
return
|
||||
|
||||
# # Dump pictureInfoDict
|
||||
# for key in pictureInfoDict:
|
||||
# print("===================key:%s" % key)
|
||||
# listTmp = list(pictureInfoDict[key])
|
||||
# for info in listTmp:
|
||||
# print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
|
||||
|
||||
deviceCount = getDeviceCount()
|
||||
print("=================device count:%d" % deviceCount)
|
||||
|
||||
resultDict = {}
|
||||
resultDict = matchFrame(pictureInfoDict)
|
||||
|
||||
for key in resultDict:
|
||||
fp.write("===================result key:%s\n" % key)
|
||||
print("===================result key:%s" % key)
|
||||
listTmp = list(resultDict[key])
|
||||
for info in listTmp:
|
||||
fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
|
||||
matchPath = f"{resultPath}/matchFrames/"
|
||||
safe_make_dir(matchPath)
|
||||
notMatchPath = f"{resultPath}/notMatchFrames/"
|
||||
abnormalPath = f"{resultPath}/abnormal/"
|
||||
|
||||
for key in resultDict:
|
||||
listTmp = list(resultDict[key])
|
||||
if (len(listTmp) == (deviceCount * streamProfileCount)):
|
||||
haveAbnormalData = False
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
haveAbnormalData = True
|
||||
else:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
|
||||
if haveAbnormalData:
|
||||
safe_make_dir(abnormalPath)
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
safe_make_dir(notMatchPath)
|
||||
for info in listTmp:
|
||||
newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, newFilePath)
|
||||
|
||||
def main():
|
||||
if not initPrimaryId():
|
||||
print("Initialize primaryId failed. exit.")
|
||||
return
|
||||
|
||||
if not initSyncConfigParams():
|
||||
print("Initialized Sync config parameter failed. exit.")
|
||||
return
|
||||
|
||||
initResultDir()
|
||||
|
||||
print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
|
||||
handleSyncFrames()
|
||||
|
||||
return
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Gemini 2'")
|
||||
parser.add_argument('frames_dir', type=str, help="Frames directory")
|
||||
parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
|
||||
args = parser.parse_args()
|
||||
|
||||
sourceRootPath = args.frames_dir
|
||||
sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
|
||||
mainPythonWorkPath = args.main_script_root_dir
|
||||
print(f"Start of Gemini2 synchronize frame. sourceRootPath={sourceRootPath}")
|
||||
|
||||
main()
|
||||
|
||||
print("Finish of Gemini2 synchronize frame.")
|
||||
@@ -1,423 +0,0 @@
|
||||
import os.path
|
||||
import argparse
|
||||
import sys
|
||||
import json
|
||||
import shutil
|
||||
import configparser
|
||||
|
||||
from pathlib import Path
|
||||
from datetime import datetime
|
||||
|
||||
import os
|
||||
import re
|
||||
|
||||
## Config.ini中配置
|
||||
# 单位：FPS,请依据数据集实际帧率填写，否则会导致匹配不准确
|
||||
frameRate = -1
|
||||
# 单位：ms，当匹配后某组数据帧的时间戳极差大于等于tspRangeThreshold，文件名会增加标注
|
||||
tspRangeThreshold = -1
|
||||
|
||||
## Python脚本自动解析, 不要修改
|
||||
primaryId = '-1' #主机ID
|
||||
mainPythonWorkPath = "" # SyncFramesMain.py的工作目录
|
||||
sourceFramesPath = "" # 请勿修改，固定值,TotalMode目录路径
|
||||
sourceRootPath = "" # 存放TotalMode的根目录
|
||||
resultPath = "" # 保存sync分析结果
|
||||
streamProfileDict = dict() # 保存Python结果
|
||||
|
||||
class PictureInfo(object):
|
||||
class Struct(object):
|
||||
def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
|
||||
self.deviceId = deviceId
|
||||
self.sensorType = sensorType
|
||||
self.syncTimeStamp = syncTimeStamp
|
||||
self.picturePath = picturePath
|
||||
self.deviceIdFull = deviceIdFull
|
||||
self.fileExt = fileExt
|
||||
|
||||
def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
|
||||
return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
|
||||
|
||||
class StreamProfileInfo:
|
||||
def __init__(self, sensorType, width, height, format, fps):
|
||||
self.sensorType = sensorType
|
||||
self.width = width
|
||||
self.height = height
|
||||
self.format = format
|
||||
self.fps = fps
|
||||
|
||||
def initPrimaryId():
|
||||
global primaryId
|
||||
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
|
||||
return False
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return False
|
||||
|
||||
for item in data['devices']:
|
||||
if 'isPrimaryDevice' in item and 'index' in item and item['isPrimaryDevice']:
|
||||
primaryId = str(item['index'])
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
def initSyncConfigParams():
|
||||
global frameRate, tspRangeThreshold
|
||||
|
||||
configPath = f"{mainPythonWorkPath}/Config.ini"
|
||||
if not os.path.exists(configPath):
|
||||
print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
|
||||
return False
|
||||
|
||||
# 创建ConfigParser对象
|
||||
config = configparser.ConfigParser()
|
||||
|
||||
# 读取ini文件
|
||||
config.read(configPath, 'utf-8')
|
||||
|
||||
if not config.has_option('Parameter', 'frameRate'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
|
||||
return False
|
||||
|
||||
if not config.has_option('Parameter', 'tspRangeThreshold'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
|
||||
return False
|
||||
|
||||
frameRate = config.getfloat('Parameter', 'frameRate')
|
||||
if frameRate <= 0 or frameRate >= 1000:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
|
||||
return False
|
||||
|
||||
tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
|
||||
if tspRangeThreshold <= 0:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def getDeviceCount():
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Get device count failed. {deviceInfoPath} not exists")
|
||||
return 0
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Get device count failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return 0
|
||||
|
||||
return len(data['devices'])
|
||||
|
||||
def initProfileInfoDict():
|
||||
global streamProfileDict
|
||||
|
||||
streamProfileDict = dict()
|
||||
profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
|
||||
if not os.path.exists(profilePath):
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not exists")
|
||||
return False
|
||||
|
||||
with open(profilePath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'streamProfiles' in data:
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
|
||||
return False
|
||||
|
||||
for item in data['streamProfiles']:
|
||||
if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
|
||||
profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
|
||||
streamProfileDict.setdefault(item['sensorType'], profileInfo)
|
||||
else:
|
||||
print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
|
||||
|
||||
return len(streamProfileDict.items()) > 0
|
||||
|
||||
def initResultDir():
|
||||
global resultPath
|
||||
timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
|
||||
resultPath = f"{sourceRootPath}/results-{timeText}"
|
||||
if not os.path.exists(resultPath):
|
||||
os.makedirs(resultPath)
|
||||
|
||||
def isFrameFile(fileName):
|
||||
fileExt = os.path.splitext(fileName)
|
||||
if len(fileExt) < 2:
|
||||
return False
|
||||
|
||||
frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
|
||||
return fileExt[1] in frameExts
|
||||
|
||||
def extract_number(filename):
|
||||
"""提取文件名中以'g'开头的数字部分"""
|
||||
match_g = re.search(r'g(\d+)', filename)
|
||||
if match_g:
|
||||
return int(match_g.group(1))
|
||||
|
||||
"""提取文件名中以'd'开头的数字部分"""
|
||||
match_d = re.search(r'd(\d+)', filename)
|
||||
if match_d:
|
||||
return int(match_d.group(1))
|
||||
return float('inf')
|
||||
|
||||
def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
|
||||
frameFileCount = 0
|
||||
for dirpath, dirnames, filenames in os.walk(rootFilePath):
|
||||
filenames.sort(key=extract_number) # 排序，按文件名中的'd'和'g'后面的数字从小到大排序
|
||||
for fileName in filenames:
|
||||
filePath = os.path.join(dirpath, fileName)
|
||||
if not isFrameFile(fileName):
|
||||
continue
|
||||
|
||||
frameFileCount += 1
|
||||
fileNameNoExt = os.path.splitext(fileName)[0]
|
||||
pictureNameList = fileNameNoExt.split('_')
|
||||
deviceId = pictureNameList[2][5:]
|
||||
sensorType = pictureNameList[0].replace('#', '_')
|
||||
syncTimeStamp = int(pictureNameList[3][1:])
|
||||
|
||||
# 创建结构体
|
||||
pictureInfo = PictureInfo()
|
||||
info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
|
||||
|
||||
# 格式化字典一个key对应一个数组
|
||||
pictureInfoDict.setdefault(deviceId, []).append(info)
|
||||
|
||||
if 0 == frameFileCount:
|
||||
print("initialize pictureInfoDict failed. Not found frame file")
|
||||
|
||||
|
||||
def matchFrame(pictureInfoDict):
|
||||
global primaryId, frameRate
|
||||
global streamProfileDict
|
||||
|
||||
# 获取比较图像数组,取第一个设备的Color数组来进行比较
|
||||
compareList = []
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == 'color':
|
||||
compareList.append(info)
|
||||
|
||||
# 根据开流情况动态分析，减少循环次数
|
||||
hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
|
||||
hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
|
||||
hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
|
||||
hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
|
||||
hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
|
||||
|
||||
# 匹配相邻帧
|
||||
resultDict = {}
|
||||
consumedList = []
|
||||
dictIndex = 0
|
||||
frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
|
||||
for comparePic in compareList:
|
||||
resultDict.setdefault(dictIndex, []).append(comparePic)
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
# 对比彩色
|
||||
if hasColorProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对Depth
|
||||
if hasDepthProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# IR
|
||||
if hasIRProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对左IR
|
||||
if hasIRLeftProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对右IR
|
||||
if hasIRRightProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 计算偏差
|
||||
minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
|
||||
for info in resultDict[dictIndex]:
|
||||
info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
|
||||
|
||||
dictIndex += 1
|
||||
|
||||
return resultDict
|
||||
|
||||
|
||||
def safe_make_dir(path):
|
||||
if not os.path.exists(path):
|
||||
os.makedirs(path)
|
||||
|
||||
|
||||
def handleSyncFrames():
|
||||
global resultPath
|
||||
global sourceFramesPath
|
||||
global streamProfileDict
|
||||
|
||||
fp = open(f"{resultPath}/frameMatchLog.txt", "w")
|
||||
|
||||
if not initProfileInfoDict():
|
||||
print("Initialize stream profile dictionary failed. exit")
|
||||
return
|
||||
print(f"Stream profiles: {streamProfileDict}")
|
||||
streamProfileCount = len(streamProfileDict.items())
|
||||
|
||||
pictureInfoDict = {}
|
||||
|
||||
initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
|
||||
if len(pictureInfoDict) <= 0:
|
||||
print("init pictureInfoDict failed. pictureInfoDict.len = 0")
|
||||
return
|
||||
|
||||
# # Dump pictureInfoDict
|
||||
# for key in pictureInfoDict:
|
||||
# print("===================key:%s" % key)
|
||||
# listTmp = list(pictureInfoDict[key])
|
||||
# for info in listTmp:
|
||||
# print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
|
||||
|
||||
deviceCount = getDeviceCount()
|
||||
print("=================device count:%d" % deviceCount)
|
||||
|
||||
resultDict = {}
|
||||
resultDict = matchFrame(pictureInfoDict)
|
||||
|
||||
for key in resultDict:
|
||||
fp.write("===================result key:%s\n" % key)
|
||||
print("===================result key:%s" % key)
|
||||
listTmp = list(resultDict[key])
|
||||
for info in listTmp:
|
||||
fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
|
||||
matchPath = f"{resultPath}/matchFrames/"
|
||||
safe_make_dir(matchPath)
|
||||
notMatchPath = f"{resultPath}/notMatchFrames/"
|
||||
abnormalPath = f"{resultPath}/abnormal/"
|
||||
|
||||
for key in resultDict:
|
||||
listTmp = list(resultDict[key])
|
||||
if (len(listTmp) == (deviceCount * streamProfileCount)):
|
||||
haveAbnormalData = False
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
haveAbnormalData = True
|
||||
else:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
|
||||
if haveAbnormalData:
|
||||
safe_make_dir(abnormalPath)
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
safe_make_dir(notMatchPath)
|
||||
for info in listTmp:
|
||||
newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, newFilePath)
|
||||
|
||||
def main():
|
||||
if not initPrimaryId():
|
||||
print("Initialize primaryId failed. exit.")
|
||||
return
|
||||
|
||||
if not initSyncConfigParams():
|
||||
print("Initialized Sync config parameter failed. exit.")
|
||||
return
|
||||
|
||||
initResultDir()
|
||||
|
||||
print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
|
||||
handleSyncFrames()
|
||||
|
||||
return
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Devices'")
|
||||
parser.add_argument('frames_dir', type=str, help="Frames directory")
|
||||
parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
|
||||
args = parser.parse_args()
|
||||
|
||||
sourceRootPath = args.frames_dir
|
||||
sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
|
||||
mainPythonWorkPath = args.main_script_root_dir
|
||||
print(f"Start of CommonFrameMatch synchronize frame. sourceRootPath={sourceRootPath}")
|
||||
|
||||
main()
|
||||
|
||||
print("Finish of CommonFrameMatch synchronize frame.")
|
||||
@@ -1,408 +0,0 @@
|
||||
import os.path
|
||||
import argparse
|
||||
import sys
|
||||
import json
|
||||
import shutil
|
||||
import configparser
|
||||
|
||||
from pathlib import Path
|
||||
from datetime import datetime
|
||||
|
||||
## Config.ini中配置
|
||||
# 单位：FPS,请依据数据集实际帧率填写，否则会导致匹配不准确
|
||||
frameRate = -1
|
||||
# 单位：ms，当匹配后某组数据帧的时间戳极差大于等于tspRangeThreshold，文件名会增加标注
|
||||
tspRangeThreshold = -1
|
||||
|
||||
## Python脚本自动解析, 不要修改
|
||||
primaryId = '-1' #主机ID
|
||||
mainPythonWorkPath = "" # SyncFramesMain.py的工作目录
|
||||
sourceFramesPath = "" # 请勿修改，固定值,TotalMode目录路径
|
||||
sourceRootPath = "" # 存放TotalMode的根目录
|
||||
resultPath = "" # 保存sync分析结果
|
||||
streamProfileDict = dict() # 保存Python结果
|
||||
|
||||
class PictureInfo(object):
|
||||
class Struct(object):
|
||||
def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
|
||||
self.deviceId = deviceId
|
||||
self.sensorType = sensorType
|
||||
self.syncTimeStamp = syncTimeStamp
|
||||
self.picturePath = picturePath
|
||||
self.deviceIdFull = deviceIdFull
|
||||
self.fileExt = fileExt
|
||||
|
||||
def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
|
||||
return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
|
||||
|
||||
class StreamProfileInfo:
|
||||
def __init__(self, sensorType, width, height, format, fps):
|
||||
self.sensorType = sensorType
|
||||
self.width = width
|
||||
self.height = height
|
||||
self.format = format
|
||||
self.fps = fps
|
||||
|
||||
def initPrimaryId():
|
||||
global primaryId
|
||||
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
|
||||
return False
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return False
|
||||
|
||||
for item in data['devices']:
|
||||
if 'isPrimaryDevice' in item and 'index' in item and item['isPrimaryDevice']:
|
||||
primaryId = str(item['index'])
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
def initSyncConfigParams():
|
||||
global frameRate, tspRangeThreshold
|
||||
|
||||
configPath = f"{mainPythonWorkPath}/Config.ini"
|
||||
if not os.path.exists(configPath):
|
||||
print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
|
||||
return False
|
||||
|
||||
# 创建ConfigParser对象
|
||||
config = configparser.ConfigParser()
|
||||
|
||||
# 读取ini文件
|
||||
config.read(configPath, 'utf-8')
|
||||
|
||||
if not config.has_option('Parameter', 'frameRate'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
|
||||
return False
|
||||
|
||||
if not config.has_option('Parameter', 'tspRangeThreshold'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
|
||||
return False
|
||||
|
||||
frameRate = config.getfloat('Parameter', 'frameRate')
|
||||
if frameRate <= 0 or frameRate >= 1000:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
|
||||
return False
|
||||
|
||||
tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
|
||||
if tspRangeThreshold <= 0:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def getDeviceCount():
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Get device count failed. {deviceInfoPath} not exists")
|
||||
return 0
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Get device count failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return 0
|
||||
|
||||
return len(data['devices'])
|
||||
|
||||
def initProfileInfoDict():
|
||||
global streamProfileDict
|
||||
|
||||
streamProfileDict = dict()
|
||||
profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
|
||||
if not os.path.exists(profilePath):
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not exists")
|
||||
return False
|
||||
|
||||
with open(profilePath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'streamProfiles' in data:
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
|
||||
return False
|
||||
|
||||
for item in data['streamProfiles']:
|
||||
if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
|
||||
profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
|
||||
streamProfileDict.setdefault(item['sensorType'], profileInfo)
|
||||
else:
|
||||
print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
|
||||
|
||||
return len(streamProfileDict.items()) > 0
|
||||
|
||||
def initResultDir():
|
||||
global resultPath
|
||||
timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
|
||||
resultPath = f"{sourceRootPath}/results-{timeText}"
|
||||
if not os.path.exists(resultPath):
|
||||
os.makedirs(resultPath)
|
||||
|
||||
def isFrameFile(fileName):
|
||||
fileExt = os.path.splitext(fileName)
|
||||
if len(fileExt) < 2:
|
||||
return False
|
||||
|
||||
frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
|
||||
return fileExt[1] in frameExts
|
||||
|
||||
def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
|
||||
frameFileCount = 0
|
||||
for dirpath, dirnames, filenames in os.walk(rootFilePath):
|
||||
# print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
|
||||
for fileName in filenames:
|
||||
filePath = os.path.join(dirpath, fileName)
|
||||
if not isFrameFile(fileName):
|
||||
continue
|
||||
|
||||
frameFileCount += 1
|
||||
fileNameNoExt = os.path.splitext(fileName)[0]
|
||||
pictureNameList = fileNameNoExt.split('_')
|
||||
deviceId = pictureNameList[2][5:]
|
||||
sensorType = pictureNameList[0].replace('#', '_')
|
||||
syncTimeStamp = int(pictureNameList[3][1:])
|
||||
|
||||
# 创建结构体
|
||||
pictureInfo = PictureInfo()
|
||||
info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
|
||||
|
||||
# 格式化字典一个key对应一个数组
|
||||
pictureInfoDict.setdefault(deviceId, []).append(info)
|
||||
|
||||
if 0 == frameFileCount:
|
||||
print("initialize pictureInfoDict failed. Not found frame file")
|
||||
|
||||
|
||||
def matchFrame(pictureInfoDict):
|
||||
global primaryId, frameRate
|
||||
global streamProfileDict
|
||||
|
||||
# 获取比较图像数组,取第一个设备的Color数组来进行比较
|
||||
compareList = []
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == 'color':
|
||||
compareList.append(info)
|
||||
|
||||
# 根据开流情况动态分析，减少循环次数
|
||||
hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
|
||||
hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
|
||||
hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
|
||||
hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
|
||||
hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
|
||||
|
||||
# 匹配相邻帧
|
||||
resultDict = {}
|
||||
consumedList = []
|
||||
dictIndex = 0
|
||||
frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
|
||||
for comparePic in compareList:
|
||||
resultDict.setdefault(dictIndex, []).append(comparePic)
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
# 对比彩色
|
||||
if hasColorProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对Depth
|
||||
if hasDepthProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# IR
|
||||
if hasIRProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对左IR
|
||||
if hasIRLeftProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对右IR
|
||||
if hasIRRightProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 计算偏差
|
||||
minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
|
||||
for info in resultDict[dictIndex]:
|
||||
info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
|
||||
|
||||
dictIndex += 1
|
||||
|
||||
return resultDict
|
||||
|
||||
|
||||
def safe_make_dir(path):
|
||||
if not os.path.exists(path):
|
||||
os.makedirs(path)
|
||||
|
||||
|
||||
def handleSyncFrames():
|
||||
global resultPath
|
||||
global sourceFramesPath
|
||||
global streamProfileDict
|
||||
|
||||
fp = open(f"{resultPath}/frameMatchLog.txt", "w")
|
||||
|
||||
if not initProfileInfoDict():
|
||||
print("Initialize stream profile dictionary failed. exit")
|
||||
return
|
||||
print(f"Stream profiles: {streamProfileDict}")
|
||||
streamProfileCount = len(streamProfileDict.items())
|
||||
|
||||
pictureInfoDict = {}
|
||||
|
||||
initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
|
||||
if len(pictureInfoDict) <= 0:
|
||||
print("init pictureInfoDict failed. pictureInfoDict.len = 0")
|
||||
return
|
||||
|
||||
# # Dump pictureInfoDict
|
||||
# for key in pictureInfoDict:
|
||||
# print("===================key:%s" % key)
|
||||
# listTmp = list(pictureInfoDict[key])
|
||||
# for info in listTmp:
|
||||
# print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
|
||||
|
||||
deviceCount = getDeviceCount()
|
||||
print("=================device count:%d" % deviceCount)
|
||||
|
||||
resultDict = {}
|
||||
resultDict = matchFrame(pictureInfoDict)
|
||||
|
||||
for key in resultDict:
|
||||
fp.write("===================result key:%s\n" % key)
|
||||
print("===================result key:%s" % key)
|
||||
listTmp = list(resultDict[key])
|
||||
for info in listTmp:
|
||||
fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
|
||||
matchPath = f"{resultPath}/matchFrames/"
|
||||
safe_make_dir(matchPath)
|
||||
notMatchPath = f"{resultPath}/notMatchFrames/"
|
||||
abnormalPath = f"{resultPath}/abnormal/"
|
||||
|
||||
for key in resultDict:
|
||||
listTmp = list(resultDict[key])
|
||||
if (len(listTmp) == (deviceCount * streamProfileCount)):
|
||||
haveAbnormalData = False
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
haveAbnormalData = True
|
||||
else:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
|
||||
if haveAbnormalData:
|
||||
safe_make_dir(abnormalPath)
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
safe_make_dir(notMatchPath)
|
||||
for info in listTmp:
|
||||
newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
|
||||
shutil.copy(info.picturePath, newFilePath)
|
||||
|
||||
def main():
|
||||
if not initPrimaryId():
|
||||
print("Initialize primaryId failed. exit.")
|
||||
return
|
||||
|
||||
if not initSyncConfigParams():
|
||||
print("Initialized Sync config parameter failed. exit.")
|
||||
return
|
||||
|
||||
initResultDir()
|
||||
|
||||
print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
|
||||
handleSyncFrames()
|
||||
|
||||
return
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Gemini 2 VL'")
|
||||
parser.add_argument('frames_dir', type=str, help="Frames directory")
|
||||
parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
|
||||
args = parser.parse_args()
|
||||
|
||||
sourceRootPath = args.frames_dir
|
||||
sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
|
||||
mainPythonWorkPath = args.main_script_root_dir
|
||||
print(f"Start of Gemini2VL synchronize frame. sourceRootPath={sourceRootPath}")
|
||||
|
||||
main()
|
||||
|
||||
print("Finish of Gemini2VL synchronize frame.")
|
||||
@@ -1,427 +0,0 @@
|
||||
import os.path
|
||||
import argparse
|
||||
import sys
|
||||
import json
|
||||
import shutil
|
||||
import configparser
|
||||
|
||||
from pathlib import Path
|
||||
from datetime import datetime
|
||||
|
||||
import os
|
||||
import re
|
||||
|
||||
## Config.ini中配置
|
||||
# 单位：FPS,请依据数据集实际帧率填写，否则会导致匹配不准确
|
||||
frameRate = -1
|
||||
# 单位：ms，当匹配后某组数据帧的时间戳极差大于等于tspRangeThreshold，文件名会增加标注
|
||||
tspRangeThreshold = -1
|
||||
|
||||
## Python脚本自动解析, 不要修改
|
||||
primaryId = '-1' #主机ID
|
||||
mainPythonWorkPath = "" # SyncFramesMain.py的工作目录
|
||||
sourceFramesPath = "" # 请勿修改，固定值,TotalMode目录路径
|
||||
sourceRootPath = "" # 存放TotalMode的根目录
|
||||
resultPath = "" # 保存sync分析结果
|
||||
streamProfileDict = dict() # 保存Python结果
|
||||
|
||||
class PictureInfo(object):
|
||||
class Struct(object):
|
||||
def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain):
|
||||
self.deviceId = deviceId
|
||||
self.sensorType = sensorType
|
||||
self.syncTimeStamp = syncTimeStamp
|
||||
self.picturePath = picturePath
|
||||
self.deviceIdFull = deviceIdFull
|
||||
self.fileExt = fileExt
|
||||
self.exp = exp
|
||||
self.gain = gain
|
||||
|
||||
def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain):
|
||||
return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain)
|
||||
|
||||
class StreamProfileInfo:
|
||||
def __init__(self, sensorType, width, height, format, fps):
|
||||
self.sensorType = sensorType
|
||||
self.width = width
|
||||
self.height = height
|
||||
self.format = format
|
||||
self.fps = fps
|
||||
|
||||
def initPrimaryId():
|
||||
global primaryId
|
||||
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
|
||||
return False
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Initialize primaryId failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return False
|
||||
|
||||
for item in data['devices']:
|
||||
if 'isPrimaryDevice' in item and 'index' in item and item['isPrimaryDevice']:
|
||||
primaryId = str(item['index'])
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
def initSyncConfigParams():
|
||||
global frameRate, tspRangeThreshold
|
||||
|
||||
configPath = f"{mainPythonWorkPath}/Config.ini"
|
||||
if not os.path.exists(configPath):
|
||||
print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
|
||||
return False
|
||||
|
||||
# 创建ConfigParser对象
|
||||
config = configparser.ConfigParser()
|
||||
|
||||
# 读取ini文件
|
||||
config.read(configPath, 'utf-8')
|
||||
|
||||
if not config.has_option('Parameter', 'frameRate'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
|
||||
return False
|
||||
|
||||
if not config.has_option('Parameter', 'tspRangeThreshold'):
|
||||
print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
|
||||
return False
|
||||
|
||||
frameRate = config.getfloat('Parameter', 'frameRate')
|
||||
if frameRate <= 0 or frameRate >= 1000:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
|
||||
return False
|
||||
|
||||
tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
|
||||
if tspRangeThreshold <= 0:
|
||||
print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def getDeviceCount():
|
||||
deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
|
||||
if not os.path.exists(deviceInfoPath):
|
||||
print(f"Get device count failed. {deviceInfoPath} not exists")
|
||||
return 0
|
||||
|
||||
with open(deviceInfoPath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'devices' in data:
|
||||
print(f"Get device count failed. {deviceInfoPath} not contain item 'devices'")
|
||||
return 0
|
||||
|
||||
return len(data['devices'])
|
||||
|
||||
def initProfileInfoDict():
|
||||
global streamProfileDict
|
||||
|
||||
streamProfileDict = dict()
|
||||
profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
|
||||
if not os.path.exists(profilePath):
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not exists")
|
||||
return False
|
||||
|
||||
with open(profilePath, 'r') as f:
|
||||
data = json.load(f)
|
||||
|
||||
if not 'streamProfiles' in data:
|
||||
print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
|
||||
return False
|
||||
|
||||
for item in data['streamProfiles']:
|
||||
if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
|
||||
profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
|
||||
streamProfileDict.setdefault(item['sensorType'], profileInfo)
|
||||
else:
|
||||
print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
|
||||
|
||||
return len(streamProfileDict.items()) > 0
|
||||
|
||||
def initResultDir():
|
||||
global resultPath
|
||||
timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
|
||||
resultPath = f"{sourceRootPath}/results-{timeText}"
|
||||
if not os.path.exists(resultPath):
|
||||
os.makedirs(resultPath)
|
||||
|
||||
def isFrameFile(fileName):
|
||||
fileExt = os.path.splitext(fileName)
|
||||
if len(fileExt) < 2:
|
||||
return False
|
||||
|
||||
frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
|
||||
return fileExt[1] in frameExts
|
||||
|
||||
def extract_number(filename):
|
||||
match_d = re.search(r'_d(\d+)', filename)
|
||||
if match_d:
|
||||
return int(match_d.group(1))
|
||||
|
||||
match_g = re.search(r'_g(\d+)', filename)
|
||||
if match_g:
|
||||
return int(match_g.group(1))
|
||||
|
||||
return float('inf')
|
||||
|
||||
def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
|
||||
frameFileCount = 0
|
||||
for dirpath, dirnames, filenames in os.walk(rootFilePath):
|
||||
filenames.sort(key=extract_number) # 排序，按文件名中的'd'和'g'后面的数字从小到大排序
|
||||
# print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
|
||||
for fileName in filenames:
|
||||
filePath = os.path.join(dirpath, fileName)
|
||||
if not isFrameFile(fileName):
|
||||
continue
|
||||
|
||||
frameFileCount += 1
|
||||
fileNameNoExt = os.path.splitext(fileName)[0]
|
||||
pictureNameList = fileNameNoExt.split('_')
|
||||
deviceId = pictureNameList[2][5:]
|
||||
sensorType = pictureNameList[0].replace('#', '_')
|
||||
syncTimeStamp = int(pictureNameList[3][1:])
|
||||
exp = str(pictureNameList[6][0:])
|
||||
gain = str(pictureNameList[7][0:])
|
||||
|
||||
# 创建结构体
|
||||
pictureInfo = PictureInfo()
|
||||
info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1],exp,gain)
|
||||
|
||||
# 格式化字典一个key对应一个数组
|
||||
pictureInfoDict.setdefault(deviceId, []).append(info)
|
||||
|
||||
if 0 == frameFileCount:
|
||||
print("initialize pictureInfoDict failed. Not found frame file")
|
||||
|
||||
|
||||
def matchFrame(pictureInfoDict):
|
||||
global primaryId, frameRate
|
||||
global streamProfileDict
|
||||
|
||||
# 获取比较图像数组,取第一个设备的Color数组来进行比较
|
||||
compareList = []
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == 'color':
|
||||
compareList.append(info)
|
||||
|
||||
# 根据开流情况动态分析，减少循环次数
|
||||
hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
|
||||
hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
|
||||
hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
|
||||
hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
|
||||
hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
|
||||
|
||||
# 匹配相邻帧
|
||||
resultDict = {}
|
||||
consumedList = []
|
||||
dictIndex = 0
|
||||
frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
|
||||
for comparePic in compareList:
|
||||
resultDict.setdefault(dictIndex, []).append(comparePic)
|
||||
for key in pictureInfoDict:
|
||||
listTmp = list(pictureInfoDict[key])
|
||||
# 对比彩色
|
||||
if hasColorProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对Depth
|
||||
if hasDepthProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# IR
|
||||
if hasIRProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对左IR
|
||||
if hasIRLeftProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 对右IR
|
||||
if hasIRRightProfile:
|
||||
for info in listTmp:
|
||||
if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
|
||||
continue
|
||||
|
||||
if info in consumedList:
|
||||
continue
|
||||
|
||||
if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
|
||||
resultDict.setdefault(dictIndex, []).append(info)
|
||||
consumedList.append(info)
|
||||
break
|
||||
|
||||
# 计算偏差
|
||||
minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
|
||||
for info in resultDict[dictIndex]:
|
||||
info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
|
||||
|
||||
dictIndex += 1
|
||||
|
||||
return resultDict
|
||||
|
||||
|
||||
def safe_make_dir(path):
|
||||
if not os.path.exists(path):
|
||||
os.makedirs(path)
|
||||
|
||||
|
||||
def handleSyncFrames():
|
||||
global resultPath
|
||||
global sourceFramesPath
|
||||
global streamProfileDict
|
||||
|
||||
fp = open(f"{resultPath}/frameMatchLog.txt", "w")
|
||||
|
||||
if not initProfileInfoDict():
|
||||
print("Initialize stream profile dictionary failed. exit")
|
||||
return
|
||||
print(f"Stream profiles: {streamProfileDict}")
|
||||
streamProfileCount = len(streamProfileDict.items())
|
||||
|
||||
pictureInfoDict = {}
|
||||
|
||||
initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
|
||||
if len(pictureInfoDict) <= 0:
|
||||
print("init pictureInfoDict failed. pictureInfoDict.len = 0")
|
||||
return
|
||||
|
||||
# # Dump pictureInfoDict
|
||||
# for key in pictureInfoDict:
|
||||
# print("===================key:%s" % key)
|
||||
# listTmp = list(pictureInfoDict[key])
|
||||
# for info in listTmp:
|
||||
# print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
|
||||
|
||||
deviceCount = getDeviceCount()
|
||||
print("=================device count:%d" % deviceCount)
|
||||
|
||||
resultDict = {}
|
||||
resultDict = matchFrame(pictureInfoDict)
|
||||
|
||||
for key in resultDict:
|
||||
fp.write("===================result key:%s\n" % key)
|
||||
print("===================result key:%s" % key)
|
||||
listTmp = list(resultDict[key])
|
||||
for info in listTmp:
|
||||
fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
|
||||
info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
|
||||
|
||||
matchPath = f"{resultPath}/matchFrames/"
|
||||
safe_make_dir(matchPath)
|
||||
notMatchPath = f"{resultPath}/notMatchFrames/"
|
||||
abnormalPath = f"{resultPath}/abnormal/"
|
||||
|
||||
for key in resultDict:
|
||||
listTmp = list(resultDict[key])
|
||||
if (len(listTmp) == (deviceCount * streamProfileCount)):
|
||||
haveAbnormalData = False
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
haveAbnormalData = True
|
||||
else:
|
||||
path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
|
||||
if haveAbnormalData:
|
||||
safe_make_dir(abnormalPath)
|
||||
for info in listTmp:
|
||||
if info.tspDiff >= tspRangeThreshold:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
|
||||
shutil.copy(info.picturePath, path)
|
||||
else:
|
||||
safe_make_dir(notMatchPath)
|
||||
for info in listTmp:
|
||||
newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
|
||||
info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
|
||||
shutil.copy(info.picturePath, newFilePath)
|
||||
|
||||
def main():
|
||||
if not initPrimaryId():
|
||||
print("Initialize primaryId failed. exit.")
|
||||
return
|
||||
|
||||
if not initSyncConfigParams():
|
||||
print("Initialized Sync config parameter failed. exit.")
|
||||
return
|
||||
|
||||
initResultDir()
|
||||
|
||||
print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
|
||||
handleSyncFrames()
|
||||
|
||||
return
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Devices'")
|
||||
parser.add_argument('frames_dir', type=str, help="Frames directory")
|
||||
parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
|
||||
args = parser.parse_args()
|
||||
|
||||
sourceRootPath = args.frames_dir
|
||||
sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
|
||||
mainPythonWorkPath = args.main_script_root_dir
|
||||
print(f"Start of CommonFrameMatch synchronize frame. sourceRootPath={sourceRootPath}")
|
||||
|
||||
main()
|
||||
|
||||
print("Finish of CommonFrameMatch synchronize frame.")
|
||||
@@ -1,16 +0,0 @@
|
||||
{
|
||||
"D2CAlignMode": "ALIGN_D2C_SW_MODE",
|
||||
"streamProfiles": [{
|
||||
"sensorType": "OB_SENSOR_COLOR",
|
||||
"width": 640,
|
||||
"height": 480,
|
||||
"fps": 30,
|
||||
"format": "MJPEG"
|
||||
}, {
|
||||
"sensorType": "OB_SENSOR_IR_LEFT",
|
||||
"width": 640,
|
||||
"height": 480,
|
||||
"fps": 30,
|
||||
"format": "Y8"
|
||||
}]
|
||||
}
|
||||
Reference in New Issue
Block a user