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12819c5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 | #!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Take a .vrs file and create a sibling directory called "frames" that contains the frames.
Usage:
python save_vrs_frames.py /path/to/recording.vrs
Behavior:
- Saves frames from a single image stream (default preference: camera-rgb).
- Output directory is: <dir_of_vrs>/frames
- Output images are: frame_000000.jpg, frame_000001.jpg, ...
- Also writes: <dir_of_vrs>/frames/timestamps.csv (frame_idx, timestamp_ns, stream_label)
Requires:
pip install projectaria-tools opencv-python
"""
import os
import sys
import csv
import cv2
from projectaria_tools.core import data_provider
PREFERRED_LABELS = [
"camera-rgb",
"camera-slam-left",
"camera-slam-right",
]
def pick_stream_id(provider):
"""
Pick the first available image stream from PREFERRED_LABELS.
Returns (stream_id, label).
"""
for label in PREFERRED_LABELS:
sid = provider.get_stream_id_from_label(label)
if sid is not None:
# sanity: can we read at least one image?
try:
n = provider.get_num_data(sid)
if n <= 0:
continue
img, rec = provider.get_image_data_by_index(sid, 0)
if img is not None and rec is not None:
return sid, label
except Exception:
continue
# If none of the preferred labels exist, try *any* stream in get_all_streams()
# and see if it yields images.
try:
streams = provider.get_all_streams() # list-like
except Exception as e:
raise RuntimeError(
"Could not find an image stream. Tried camera-rgb and slam cameras, "
"and provider.get_all_streams() was unavailable."
) from e
for s in streams:
# best-effort to obtain the stream id and label from whatever object type this is
sid = None
label = None
for attr in ("stream_id", "id", "streamId"):
if hasattr(s, attr):
sid = getattr(s, attr)
break
for attr in ("label", "name"):
if hasattr(s, attr):
label = getattr(s, attr)
break
if sid is None:
continue
try:
n = provider.get_num_data(sid)
if n <= 0:
continue
img, rec = provider.get_image_data_by_index(sid, 0)
if img is not None and rec is not None:
return sid, (label or str(sid))
except Exception:
continue
raise RuntimeError("No image stream found in this VRS (nothing readable as images).")
def to_numpy(img_data):
"""
projectaria_tools sometimes returns an object with .to_numpy_array()
"""
if hasattr(img_data, "to_numpy_array"):
return img_data.to_numpy_array()
return img_data
def main():
if len(sys.argv) != 2:
print("Usage: python save_vrs_frames.py /path/to/recording.vrs")
sys.exit(2)
vrs_path = sys.argv[1]
if not (os.path.isfile(vrs_path) and vrs_path.lower().endswith(".vrs")):
raise FileNotFoundError(f"Not a .vrs file: {vrs_path}")
vrs_dir = os.path.dirname(os.path.abspath(vrs_path))
out_dir = os.path.join(vrs_dir, "frames")
os.makedirs(out_dir, exist_ok=True)
provider = data_provider.create_vrs_data_provider(vrs_path)
stream_id, stream_label = pick_stream_id(provider)
num = provider.get_num_data(stream_id)
ts_csv_path = os.path.join(out_dir, "timestamps.csv")
with open(ts_csv_path, "w", newline="") as f:
w = csv.writer(f)
w.writerow(["frame_idx", "timestamp_ns", "stream_label"])
for i in range(num):
img_data, rec = provider.get_image_data_by_index(stream_id, i)
if img_data is None or rec is None:
continue
img = to_numpy(img_data)
# If RGB -> convert to BGR for OpenCV saving
if img.ndim == 3 and img.shape[2] == 3:
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
out_path = os.path.join(out_dir, f"frame_{i:06d}.jpg")
ok = cv2.imwrite(out_path, img, [int(cv2.IMWRITE_JPEG_QUALITY), 95])
if not ok:
raise RuntimeError(f"Failed to write: {out_path}")
ts_ns = int(getattr(rec, "capture_timestamp_ns", -1))
w.writerow([i, ts_ns, stream_label])
if i % 500 == 0:
print(f" saved {i}/{num} frames...")
print(f"[OK] VRS: {vrs_path}")
print(f"[OK] Stream: {stream_label} (id={stream_id})")
print(f"[OK] Frames saved to: {out_dir}")
print(f"[OK] Timestamps: {ts_csv_path}")
if __name__ == "__main__":
main() |