| |
| |
|
|
| """ |
| 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: |
| |
| 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 |
|
|
| |
| |
| try: |
| streams = provider.get_all_streams() |
| 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: |
| |
| 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 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() |
