53 lines
1.6 KiB
Python
53 lines
1.6 KiB
Python
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from flandre.utils.RfFrame import b2t
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import json
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from pathlib import Path
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import itertools
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import cv2
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import numpy as np
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from nvidia import nvimgcodec
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decoder = nvimgcodec.Decoder()
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encoder = nvimgcodec.Encoder()
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rec_folder = Path(
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'/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record2/')
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robot_folder = rec_folder / 'robot'
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robot_folder = rec_folder / 'robot'
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d: dict[int, dict] = dict()
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for file in robot_folder.glob('*'):
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for line in file.read_text().splitlines():
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s = line.split(',')
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v = dict(
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host_ts=int(s[0]),
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device_ts=int(float(s[1])*10**9),
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x=float(s[2]),
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y=float(s[3]),
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z=float(s[4]),
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rx=float(s[5]),
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ry=float(s[6]),
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rz=float(s[7]),
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fx=float(s[8]),
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fy=float(s[9]),
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fz=float(s[10]),
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frx=float(s[11]),
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fry=float(s[12]),
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frz=float(s[13]),
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)
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d[v['host_ts']] = v
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(rec_folder/'robot.json').write_text(json.dumps(d))
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for file in Path('/run/media/lambda/b86dccdc-f134-464b-a310-6575ee9ae85c/record2/camera_raw').glob('*.bin'):
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fb = Path(file).read_bytes()
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b = np.frombuffer(fb, dtype=np.uint8).reshape(
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(1080, 1920, 3))
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b = cv2.cvtColor(b, cv2.COLOR_BGR2RGB)
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# cv2.imshow('',)
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# cv2.waitKey(0)
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# enc_params = nvimgcodec.EncodeParams(quality=5, chroma_subsampling=nvimgcodec.ChromaSubsampling.CSS_GRAY)
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# encoder.write('a.jpg', b, params=enc_params)
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encoder.write((file.parent.parent/'camera' /
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file.with_suffix('.jpg').name).__str__(), b)
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