minor

scripts/extract_all_images_MMP.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+input_folder="${1?"Usage: $0 <input/folder> <output/folder>"}"
+output_base_folder="${2?"Usage: $0 <input/folder> <output/folder>"}"
+for input in "$input_folder"/*/; do
+    sequence_name=$(basename "$input")
+    output_folder="${output_base_folder}/${sequence_name}"
+    python "${EVENT_CNN_BASE}/utils/extract_images_MMP.py" \
+        "${input}/memmaps" \
+        "$output_folder"
+done

utils/extract_images_MMP.py

@@ -0,0 +1,45 @@
+import argparse
+import cv2
+import os
+import numpy as np
+from util import setup_output_folder, append_timestamp
+from os.path import join
+from tqdm import tqdm
+
+
+def load_data(data_path, timestamp_fname='timestamps.npy', image_fname='images.npy'):
+
+    assert os.path.isdir(data_path), '%s is not a valid data_pathectory' % data_path
+
+    data = {}
+    for subroot, _, fnames in sorted(os.walk(data_path)):
+        for fname in sorted(fnames):
+            path = os.path.join(subroot, fname)
+            if fname.endswith('.npy'):
+                if fname.endswith(timestamp_fname):
+                    frame_stamps = np.load(path)
+                    data['frame_stamps'] = frame_stamps
+                elif fname.endswith(image_fname):
+                    data['images'] = np.load(path, mmap_mode='r')  # N x H x W x C
+    return data
+
+
+def save_images(data, output_folder, ts_path):
+    for i, (image, ts) in enumerate(zip(tqdm(data['images']), data['frame_stamps'])):
+        fname = 'frame_{:010d}.png'.format(i)
+        cv2.imwrite(join(output_folder, fname), image)
+        append_timestamp(ts_path, fname, ts)
+
+
+def main(args):
+    data = load_data(args.data_path)
+    ts_path = setup_output_folder(args.output_folder)
+    save_images(data, args.output_folder, ts_path)
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('data_path', type=str)
+    parser.add_argument('output_folder', type=str)
+    args = parser.parse_args()
+    main(args)

utils/util.py

@@ -160,9 +160,9 @@ def torch2cv2(image):
     return (image * 255).astype(np.uint8)
 
 
-def append_timestamp(filename, image_rel_path, timestamp):
-    with open(filename, 'a') as f:
-        f.write('{} {:.15f}\n'.format(image_rel_path, timestamp))
+def append_timestamp(path, description, timestamp):
+    with open(path, 'a') as f:
+        f.write('{} {:.15f}\n'.format(description, timestamp))
 
 
 def setup_output_folder(output_folder):