import glob import os import pandas as pd import numpy as np import shutil import os.path as osp import cv2 import subprocess import re from calibration_syncvideos import calibration_syncvideos ALLOWED_EXTENSIONS = ['.jpg', '.jpeg', '.npy', '.png', '.pcd'] def visual_sync_output(output_dirs, devices_name): cam_txts = ["CAM " + devicen + " {}" for devicen in devices_name] size = (1920, 1080) # (1920, 1080) video_size = (size[0] * 2, size[1] * 2) # (size[0] * 3 + 1080, size[1] * 2) fourcc = cv2.VideoWriter_fourcc(*'MJPG') all_imgs = [] def extract_number(filename): base = os.path.basename(filename) number = int(os.path.splitext(base)[0]) return number for outputdir in output_dirs: all_imgs.append(sorted(glob.glob(outputdir + "/*"), key=extract_number)) out = cv2.VideoWriter("visual.avi", fourcc, 28, video_size) for frame in range(len(all_imgs[0])): # if frame < 600: # continue # if frame > 900: # break frame0 = cv2.imread(all_imgs[0][frame]) frame1 = cv2.imread(all_imgs[1][frame]) frame2 = cv2.imread(all_imgs[2][frame]) frame3 = cv2.imread(all_imgs[3][frame]) cv2.putText(frame0, cam_txts[0].format(frame), org=(100, 100), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=2, color=(0, 0, 255), thickness=3) cv2.putText(frame1, cam_txts[1].format(frame), org=(100, 100), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=2, color=(0, 0, 255), thickness=3) cv2.putText(frame2, cam_txts[2].format(frame), org=(100, 100), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=2, color=(0, 0, 255), thickness=3) cv2.putText(frame3, cam_txts[3].format(frame), org=(100, 100), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=2, color=(0, 0, 255), thickness=3) row0 = np.column_stack((frame0, frame1)) row1 = np.column_stack((frame2, frame3)) imshow = np.row_stack((row0, row1)) scale_percent = 0.5 dim = (int(imshow.shape[1] * scale_percent), int(imshow.shape[0] * scale_percent)) resized = cv2.resize(imshow, dim, interpolation=cv2.INTER_AREA) # resize image cv2.imshow('Image', resized) cv2.waitKey(10) out.write(imshow) out.release() def sync_all_frames(input_dirs, output_dirs): # Create a dictionary to hold image timestamps for each directory timestamps_dict = {} # Define a function to check if the basename contains only digits def is_numeric_filename(filename): basename = os.path.splitext(os.path.basename(filename))[0] return basename.isdigit() for vid in input_dirs: out_images = sorted(glob.glob(vid + "/*")) # Filter the out_images to include only numeric filenames numeric_images = filter(is_numeric_filename, out_images) image_timestamps = list(map(lambda x: int(os.path.splitext(os.path.basename(x))[0]), numeric_images)) timestamps_dict[vid] = image_timestamps # Threshold for matching timestamps THRESHOLD_NS = 25 # Create a DataFrame for each directory's timestamps data_frames = {} for vid, timestamps in timestamps_dict.items(): if 'frame' in timestamps: continue df = pd.DataFrame({'t': timestamps, vid: list(map(str, timestamps))}) data_frames[vid] = df # Start with the first DataFrame merged_df = list(data_frames.values())[0] # Merge each subsequent DataFrame for vid, df in list(data_frames.items())[1:]: merged_df = pd.merge_asof(merged_df, df, on='t', tolerance=THRESHOLD_NS, allow_exact_matches=True, direction='nearest') # Drop any rows with NaN values resulting from the merge merged_df = merged_df.dropna() # Drop the 't' column if it's no longer needed merged_df = merged_df.drop('t', axis='columns') # Reset the index for a clean DataFrame merged_df = merged_df.reset_index(drop=True) print(merged_df.head()) print(merged_df.dtypes) # Save the matched DataFrame to CSV parent_folder = os.path.abspath(os.path.join(output_dirs[0], os.pardir)) output_filename = os.path.join(parent_folder, 'match_all.csv') merged_df.to_csv(output_filename) # Copy matched images to the new directory and rename them for cam_idx, sync_output in enumerate(output_dirs): if not osp.exists(sync_output): os.makedirs(sync_output) else: shutil.rmtree(sync_output) os.makedirs(sync_output) for idx, row in merged_df.iterrows(): for cam_idx, vid in enumerate(input_dirs): src_file = f"{vid}/{row[vid]}.png" dst_file = os.path.join(output_dirs[cam_idx], f"{idx}.png") shutil.copy(src_file, dst_file) def rename2timestamp(target_dir, video_path): # load frame timestamps csv, rename frames according to it video_root, video_filename = os.path.split(video_path) video_name, _ = os.path.splitext(video_filename) video_date = re.sub(r"VID_((\d|_)*)", r"\1", video_name) video_parent_dir = os.path.abspath(os.path.join(video_root, os.pardir)) with open(os.path.join(video_parent_dir, video_date + ".csv")) \ as frame_timestamps_file: filename_timestamps = list(map( lambda x: (x.strip('\n'), int(x)), frame_timestamps_file.readlines() )) length = len(list(filter( lambda x: os.path.splitext(x)[1] in ALLOWED_EXTENSIONS, os.listdir(target_dir) ))) length = min(length, len(filename_timestamps)) # frame number assertion # assert len(filename_timestamps) == len(list(filter( # lambda x: os.path.splitext(x)[1] in ALLOWED_EXTENSIONS, # os.listdir(target_dir) # ))), "Frame number in video %d and timestamp files %d did not match" % (l, len(filename_timestamps)) print(video_path, "=========================================================") _, extension = os.path.splitext(os.listdir(target_dir)[0]) for i in range(length): timestamp = filename_timestamps[i] os.rename( os.path.join(target_dir, "frame-%d.png" % (i + 1)), os.path.join(target_dir, timestamp[0] + extension) ) def extract_frames_from_videos(input_videos, extract_video_dirs): for video_path, output_dir in zip(input_videos, extract_video_dirs): if not osp.exists(output_dir): os.makedirs(output_dir) else: shutil.rmtree(output_dir) os.makedirs(output_dir) # Construct and call the FFmpeg command command = [ 'ffmpeg', '-i', video_path, '-vsync', '0', os.path.join(output_dir, 'frame-%d.png') ] subprocess.run(command, check=True) rename2timestamp(output_dir, video_path) def sync_videos(): recsync_videos_root = "./capturesync/" # input_videos = ["20240716/S22/VID/VID_20240716_141453.mp4", "20240716/Fold3/VID/VID_20240716_141453.mp4", # "20240716/S20/VID/VID_20240716_141453.mp4", "20240716/TabS7/VID/VID_20240716_141453.mp4"] input_videos = ["20240715/S22/VID/VID_20240715_170336.mp4", "20240715/Note9/VID/VID_20240715_170334.mp4", "20240715/S20/VID/VID_20240715_170336.mp4", "20240715/TabS7/VID/VID_20240715_170336.mp4"] input_videos = [os.path.join(recsync_videos_root, video) for video in input_videos] output_dir = "./GMC0715" extract_dir_temp = "./GMC0715/extract_frames/" devices_name = [os.path.normpath(video).split(os.sep)[-3] for video in input_videos] extract_video_dirs = [os.path.join(extract_dir_temp, devicen) for devicen in devices_name] extract_frames_from_videos(input_videos, extract_video_dirs) sync_dirs = [os.path.join(output_dir, devicen) for devicen in devices_name] sync_all_frames(extract_video_dirs, sync_dirs) # shutil.rmtree(extract_dir_temp) visual_sync_output(sync_dirs, devices_name) if __name__ == '__main__': sync_videos() calibration_syncvideos()