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read_aedat4.py
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read_aedat4.py
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## script to load the aedat4 file and save into the images and *.txt files
from dv import AedatFile
import cv2
import os
import numpy as np
from PIL import Image
import pdb
def extract_davis(aedat_file_path, filename_txt_path, croped_events_path, save_path_dvs, save_path_aps, dvs_img_interval):
frame_no = 0
frame_all = []
frame_exposure_time = []
frame_interval_time = []
use_mode = 'frame_exposure_time' #### default mode
# use_mode = 'frame_interval_time'
with AedatFile(aedat_file_path) as f:
# list all the names of streams in the file
print(f.names)
# extract timestamps of each frame
for frame in f['frames']:
frame_all.append(frame.image)
frame_exposure_time.append([frame.timestamp_start_of_exposure, frame.timestamp_end_of_exposure]) ## [1607928583397102, 1607928583401102]
frame_interval_time.append([frame.timestamp_start_of_frame, frame.timestamp_end_of_frame]) ## [1607928583387944, 1607928583410285]
# pdb.set_trace()
if use_mode == 'frame_exposure_time':
frame_timestamp = frame_exposure_time
elif use_mode == 'frame_interval_time':
frame_timestamp = frame_interval_time
frame_num = len(frame_timestamp)
# Access dimensions of the event stream
height, width = f['events'].size
event_frame = 255 * np.ones((height, width, 3), dtype=np.uint8)
# loop through the "events" stream
# events = np.hstack([packet for packet in f['events'].numpy()])
# # Access information of all events by type
# timestamps, x, y, polarities = events['timestamp'], events['x'], events['y'], events['polarity']
# pdb.set_trace()
# save event_img
idx = np.round(np.linspace(0, len(frame_timestamp) - 1, int(frame_num/dvs_img_interval))).astype(int) ## frame index [0, 1, 2, ... , 3847]
frame_timestamp = np.array(frame_timestamp)[idx] ## (3848, 2)
# one reader #
# for e in f['events']:
# if e.timestamp >= frame_timestamp[frame_no][0]:
# event_frame[int(e.y),int(e.x), :] = [30, 30, 220] * int(e.polarity) + [200, 30, 30] * int(not e.polarity)
# #event_window.append([e.timestamp, e.x, e.y, e.polarity])
# if e.timestamp > frame_timestamp[frame_no][1]:
# cv2.imwrite(os.path.join(save_path_dvs, 'frame{:04d}'.format(frame_no*dvs_img_interval)+'.bmp'), event_frame)
# frame_no = frame_no + 1
# event_frame = 255 * np.ones((height, width, 3), dtype=np.uint8)
# if frame_no > frame_num-1:
# break
# continue
file = open(filename_txt_path, 'w')
# another reader # speed up
# events will be a named numpy array
events = np.hstack([packet for packet in f['events'].numpy()])
timestamps, x, y, polarities = events['timestamp'], events['x'], events['y'], events['polarity']
# start_frame = 0
# end_frame = 50
# frame_num = end_frame - start_frame
# start_idx = np.where(events['timestamp'] >= frame_timestamp[start_frame][0])[0][0]
# end_idx = np.where(events['timestamp'] >= frame_timestamp[end_frame][1])[0][0]
# cropped_event = events[start_idx:end_idx]
# timestamps, x, y, polarities = cropped_event['timestamp'], cropped_event['x'], cropped_event['y'], cropped_event['polarity']
event_file = open(croped_events_path, 'w')
for ii in range(timestamps.shape[0]):
event_file.write(('{}, {}, {}, {}'.format(timestamps[ii], x[ii], y[ii], polarities[ii]) + "\n"))
event_file.close()
# pdb.set_trace()
# for frame_no in range(start_frame, end_frame):
for frame_no in range(0, int(frame_num/dvs_img_interval)-1):
event_frame = 255 * np.ones((height, width, 3), dtype=np.uint8)
start_idx = np.where(events['timestamp'] >= frame_timestamp[frame_no][0])[0][0]
end_idx = np.where(events['timestamp'] >= frame_timestamp[frame_no][1])[0][0]
event = events[start_idx:end_idx]
on_idx = np.where(event['polarity'] == 1) ## (array([ 3, 4, 5, ..., 10633, 10635, 10636]),)
off_idx = np.where(event['polarity'] == 0) ## (array([ 0, 1, 2, ..., 10629, 10632, 10634]),)
event_frame[event['y'][on_idx], event['x'][on_idx], :] = [30, 30, 220] * event['polarity'][on_idx][:, None]
event_frame[event['y'][off_idx], event['x'][off_idx], :] = [200, 30, 30] * (event['polarity'][off_idx]+1)[:, None]
cv2.imwrite(os.path.join(save_path_dvs, 'frame{:04d}'.format(frame_no*dvs_img_interval)+'.bmp'), event_frame)
cv2.imshow('Event Image', event_frame)
cv2.waitKey(1)
print('The {} timestamp is {}'.format(frame_no, events['timestamp'][frame_no]))
file.write('The {} frame, the timestamp is {}'.format(frame_no, events['timestamp'][frame_no]) + "\n") # save the timestamp
# pdb.set_trace()
file.close()
# save aps_img
# for frame_no in range(start_frame, end_frame):
for frame_no in range(0, int(frame_num/dvs_img_interval)-1):
this_frame = frame_all[frame_no]
event_img = np.zeros((height, width))
cv2.imwrite(os.path.join(save_path_aps, 'frame{:04d}'.format(frame_no)+'.bmp'), this_frame)
cv2.imshow('APS Image', this_frame)
cv2.waitKey(1)
# pdb.set_trace()
def extract_rgb(rgb_file_path, save_path_rgb):
cap = cv2.VideoCapture(rgb_file_path)
width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
fps = cap.get(cv2.CAP_PROP_FPS)
frame_num = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
frame_no = 0
while(True):
ret, frame = cap.read()
if not ret:
break
cv2.imwrite(os.path.join(save_path_rgb, 'frame{:04d}'.format(frame_no)+'.bmp'), frame)
frame_no = frame_no + 1
def main():
aedat_path = '/home/wangxiao/Downloads'
dvs_img_interval = 1
for root, dirs, files in os.walk(aedat_path):
for file in files:
(filename, extension) = os.path.splitext(file)
print("==>> filename: ", filename)
if (extension == '.aedat4'):
if filename+'_aps' in os.listdir(root) or filename+'_dvs' in os.listdir(root):
print("==>> Skip this video ... ")
continue
save_path_dvs = os.path.join(root, filename, filename+'_dvs')
save_path_aps = os.path.join(root, filename, filename+'_aps')
aedat_file_path = os.path.join(root, filename+'.aedat4')
filename_txt_path = os.path.join(root, filename+'_timestamp.txt')
croped_events_path = os.path.join(root, filename+'_events.txt')
if not os.path.exists(save_path_dvs):
os.makedirs(save_path_dvs)
if not os.path.exists(save_path_aps):
os.makedirs(save_path_aps)
extract_davis(aedat_file_path, filename_txt_path, croped_events_path, save_path_dvs, save_path_aps, dvs_img_interval)
if __name__ == '__main__':
main()