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284 lines
9.1 KiB
284 lines
9.1 KiB
import os
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import struct
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import bisect
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import numpy as np
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import _io
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import capnp
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from cereal import log as capnp_log
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class RawData():
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def __init__(self, f):
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self.f = _io.FileIO(f, 'rb')
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self.lenn = struct.unpack("I", self.f.read(4))[0]
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self.count = os.path.getsize(f) / (self.lenn+4)
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def read(self, i):
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self.f.seek((self.lenn+4)*i + 4)
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return self.f.read(self.lenn)
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def yuv420_to_rgb(raw, image_dim=None, swizzled=False):
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def expand(x):
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x = np.repeat(x, 2, axis=0)
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return np.repeat(x, 2, axis=1)
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if image_dim is None:
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image_dim = (raw.shape[1]*2, raw.shape[2]*2)
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swizzled = True
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if not swizzled:
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img_data = np.array(raw, copy=False, dtype=np.uint8)
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uv_len = (image_dim[0]/2)*(image_dim[1]/2)
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img_data_u = expand(img_data[image_dim[0]*image_dim[1]: \
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image_dim[0]*image_dim[1]+uv_len]. \
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reshape(image_dim[0]/2, image_dim[1]/2))
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img_data_v = expand(img_data[image_dim[0]*image_dim[1]+uv_len: \
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image_dim[0]*image_dim[1]+2*uv_len]. \
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reshape(image_dim[0]/2, image_dim[1]/2))
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img_data_y = img_data[0:image_dim[0]*image_dim[1]].reshape(image_dim)
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else:
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img_data_y = np.zeros(image_dim, dtype=np.uint8)
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img_data_y[0::2, 0::2] = raw[0]
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img_data_y[1::2, 0::2] = raw[1]
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img_data_y[0::2, 1::2] = raw[2]
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img_data_y[1::2, 1::2] = raw[3]
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img_data_u = expand(raw[4])
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img_data_v = expand(raw[5])
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yuv = np.stack((img_data_y, img_data_u, img_data_v)).swapaxes(0,2).swapaxes(0,1)
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yuv = yuv.astype(np.int16)
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# http://maxsharabayko.blogspot.com/2016/01/fast-yuv-to-rgb-conversion-in-python-3.html
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# according to ITU-R BT.709
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yuv[:,:, 0] = yuv[:,:, 0].clip(16, 235).astype(yuv.dtype) - 16
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yuv[:,:,1:] = yuv[:,:,1:].clip(16, 240).astype(yuv.dtype) - 128
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A = np.array([[1.164, 0.000, 1.793],
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[1.164, -0.213, -0.533],
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[1.164, 2.112, 0.000]])
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# our result
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img = np.dot(yuv, A.T).clip(0, 255).astype('uint8')
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return img
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class YuvData():
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def __init__(self, f, dim=(160,320)):
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self.f = _io.FileIO(f, 'rb')
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self.image_dim = dim
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self.image_size = self.image_dim[0]/2 * self.image_dim[1]/2 * 6
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self.count = os.path.getsize(f) / self.image_size
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def read_frame(self, frame):
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self.f.seek(self.image_size*frame)
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raw = self.f.read(self.image_size)
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return raw
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def read_frames(self, range_start, range_len):
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self.f.seek(self.image_size*range_start)
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raw = self.f.read(self.image_size*range_len)
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return raw
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def read_frames_into(self, range_start, buf):
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self.f.seek(self.image_size*range_start)
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return self.f.readinto(buf)
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def read(self, frame):
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return yuv420_to_rgb(self.read_frame(frame), self.image_dim)
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def close(self):
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self.f.close()
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def __enter__(self):
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return self
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def __exit__(self, type, value, traceback):
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self.close()
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class OneReader():
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def __init__(self, base_path, goofy=False, segment_range=None):
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self.base_path = base_path
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route_name = os.path.basename(base_path)
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self.rcamera_size = (304, 560)
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if segment_range is None:
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parent_path = os.path.dirname(base_path)
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self.segment_nums = []
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for p in os.listdir(parent_path):
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if not p.startswith(route_name+"--"):
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continue
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self.segment_nums.append(int(p.rsplit("--", 1)[-1]))
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if not self.segment_nums:
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raise Exception("no route segments found")
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self.segment_nums.sort()
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self.segment_range = (self.segment_nums[0], self.segment_nums[-1])
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else:
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self.segment_range = segment_range
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self.segment_nums = range(segment_range[0], segment_range[1]+1)
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for i in self.segment_nums:
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if not os.path.exists(base_path+"--"+str(i)):
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raise Exception("missing segment in provided range")
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# goofy data is broken with discontinuous logs
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if goofy and (self.segment_range[0] != 0
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or self.segment_nums != range(self.segment_range[0], self.segment_range[1]+1)):
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raise Exception("goofy data needs all the segments for a route")
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self.cur_seg = None
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self.cur_seg_f = None
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# index the frames
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print("indexing frames {}...".format(self.segment_nums))
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self.rcamera_encode_map = {} # frame_id -> (segment num, segment id, frame_time)
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last_frame_id = -1
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if goofy:
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# goofy is goofy
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frame_size = self.rcamera_size[0]*self.rcamera_size[1]*3/2
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# find the encode id ranges for each segment by using the rcamera file size
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segment_encode_ids = []
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cur_encode_id = 0
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for n in self.segment_nums:
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camera_path = os.path.join(self.seg_path(n), "rcamera")
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if not os.path.exists(camera_path):
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# for goofy, missing camera files means a bad route
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raise Exception("Missing camera file {}".format(camera_path))
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camera_size = os.path.getsize(camera_path)
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assert (camera_size % frame_size) == 0
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num_frames = camera_size / frame_size
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segment_encode_ids.append(cur_encode_id)
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cur_encode_id += num_frames
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last_encode_id = -1
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# use the segment encode id map and frame events to build the frame index
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for n in self.segment_nums:
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log_path = os.path.join(self.seg_path(n), "rlog")
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if os.path.exists(log_path):
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with open(log_path, "rb") as f:
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for evt in capnp_log.Event.read_multiple(f):
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if evt.which() == 'frame':
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if evt.frame.frameId < last_frame_id:
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# a non-increasing frame id is bad route (eg visiond was restarted)
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raise Exception("non-increasing frame id")
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last_frame_id = evt.frame.frameId
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seg_i = bisect.bisect_right(segment_encode_ids, evt.frame.encodeId)-1
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assert seg_i >= 0
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seg_num = self.segment_nums[seg_i]
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seg_id = evt.frame.encodeId-segment_encode_ids[seg_i]
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frame_time = evt.logMonoTime / 1.0e9
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self.rcamera_encode_map[evt.frame.frameId] = (seg_num, seg_id,
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frame_time)
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last_encode_id = evt.frame.encodeId
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if last_encode_id-cur_encode_id > 10:
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# too many missing frames is a bad route (eg route from before encoder rotating worked)
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raise Exception("goofy route is missing frames: {}, {}".format(
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last_encode_id, cur_encode_id))
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else:
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# for harry data, build the index from encodeIdx events
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for n in self.segment_nums:
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log_path = os.path.join(self.seg_path(n), "rlog")
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if os.path.exists(log_path):
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with open(log_path, "rb") as f:
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for evt in capnp_log.Event.read_multiple(f):
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if evt.which() == 'encodeIdx' and evt.encodeIdx.type == 'bigBoxLossless':
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frame_time = evt.logMonoTime / 1.0e9
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self.rcamera_encode_map[evt.encodeIdx.frameId] = (
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evt.encodeIdx.segmentNum, evt.encodeIdx.segmentId,
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frame_time)
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print("done")
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# read the first event to find the start time
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self.reset_to_seg(self.segment_range[0])
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for evt in self.events():
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if evt.which() != 'initData':
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self.start_mono = evt.logMonoTime
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break
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self.reset_to_seg(self.segment_range[0])
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def seg_path(self, num):
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return self.base_path+"--"+str(num)
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def reset_to_seg(self, seg):
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self.cur_seg = seg
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if self.cur_seg_f:
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self.cur_seg_f.close()
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self.cur_seg_f = None
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def seek_ts(self, ts):
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seek_seg = int(ts/60)
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if seek_seg < self.segment_range[0] or seek_seg > self.segment_range[1]:
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raise ValueError
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self.reset_to_seg(seek_seg)
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target_mono = self.start_mono + int(ts*1e9)
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for evt in self.events():
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if evt.logMonoTime >= target_mono:
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break
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def read_event(self):
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while True:
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if self.cur_seg > self.segment_range[1]:
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return None
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if self.cur_seg_f is None:
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log_path = os.path.join(self.seg_path(self.cur_seg), "rlog")
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if not os.path.exists(log_path):
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print("missing log file!", log_path)
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self.cur_seg += 1
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continue
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self.cur_seg_f = open(log_path, "rb")
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try:
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return capnp_log.Event.read(self.cur_seg_f)
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except capnp.lib.capnp.KjException as e:
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if 'EOF' in str(e): # dumb, but pycapnp does this too
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self.cur_seg_f.close()
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self.cur_seg_f = None
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self.cur_seg += 1
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else:
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raise
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def events(self):
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while True:
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r = self.read_event()
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if r is None:
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break
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yield r
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def read_frame(self, frame_id):
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encode_idx = self.rcamera_encode_map.get(frame_id)
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if encode_idx is None:
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return None
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seg_num, seg_id, _ = encode_idx
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camera_path = os.path.join(self.seg_path(seg_num), "rcamera")
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if not os.path.exists(camera_path):
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return None
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with YuvData(camera_path, self.rcamera_size) as data:
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return data.read_frame(seg_id)
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def close(self):
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if self.cur_seg_f is not None:
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self.cur_seg_f.close()
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def __enter__(self):
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return self
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def __exit__(self, type, value, traceback):
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self.close()
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