v1.8.2

fix: fix sync without calibration error

feat: add post_process command

README.md

@@ -100,4 +100,10 @@ To run calibration
 
 ```shell
 python -m realsense_recorder calibrate
+```
+
+To run post-processing
+
+```shell
+python -m realsense_recorder post_process --base_dir path/to/recording
 ```

realsense_recorder/__main__.py

@@ -14,5 +14,7 @@
     exit(cmd.calibrate(args[1:]))
 elif args[0] == "serve":
     exit(cmd.serve(args[1:]))
+elif args[0] == "post_process":
+    exit(cmd.post_process(args[1:]))
 else:
     print("Unknown command: {}".format(args[0]))

realsense_recorder/cmd/__init__.py

@@ -1,5 +1,6 @@
 from .calibrate import entry_point as calibrate
 from .serve import entry_point as serve
+from .post_process import entry_point as post_process
 
 _EXPORTS = {
     "serve": serve,

realsense_recorder/cmd/post_processing.py → realsense_recorder/cmd/post_process.py

@@ -9,8 +9,11 @@
 
 
 def worker(base_dir: str):
-    compress_record(base_dir)
-    sync_cameras(base_dir)
+    try:
+        compress_record(base_dir)
+        sync_cameras(base_dir)
+    except Exception as e:
+        print(e)
 
 
 def main(args):
@@ -20,7 +23,7 @@ def main(args):
 
 def entry_point(argv):
     parser = argparse.ArgumentParser(description='Recorder')
-    parser.add_argument('--base_dir', type=str, help='Base directory', default='')
+    parser.add_argument('--base_dir', type=str, help='Base directory', required=True)
     args = parser.parse_args(argv)
     main(args)
 

realsense_recorder/cmd/serve.py

@@ -30,7 +30,7 @@
     enumerate_devices_that_supports_advanced_mode,
 )
 
-from .post_processing import worker as post_processing_worker
+from .post_process import worker as post_processing_worker
 
 app = FastAPI()
 logging.basicConfig(level=logging.INFO)

realsense_recorder/io/Compression.py

@@ -52,7 +52,7 @@ def _compress_depth_folder(input_folder, n_prefetch):
         os.remove(f)
 
 
-def compress_record(input_recording: str, n_prefetch=16, console=None):
+def compress_record(input_recording: str, n_prefetch: int=16, max_workers: int=4, console=None):
     console = Console() if console is None else console
     console.log(f"input recording: {input_recording}")
 
@@ -73,12 +73,12 @@ def compress_record(input_recording: str, n_prefetch=16, console=None):
         osp.join(input_recording, camera_folder, 'depth') for camera_folder in camera_folders
     ]
 
-    pool_1 = ProcessPoolExecutor(max_workers=4)
+    pool_1 = ProcessPoolExecutor(max_workers=max_workers)
     for _input_folder in folder_compression_color:
         console.log(f"compressing color {_input_folder}")
         pool_1.submit(_compress_color_folder, _input_folder, n_prefetch)
 
-    pool_2 = ProcessPoolExecutor(max_workers=4)
+    pool_2 = ProcessPoolExecutor(max_workers=max_workers)
     for _input_folder in folder_compression_depth:
         console.log(f"Compressing depth {_input_folder}")
         pool_2.submit(_compress_depth_folder, _input_folder, n_prefetch)

realsense_recorder/io/Sync.py

@@ -1,4 +1,5 @@
 import json
+import logging
 from os import path as osp
 
 import numpy as np
@@ -16,7 +17,11 @@ def query_closest_values(query: np.ndarray, source: np.ndarray) -> Tuple[np.ndar
 def sync_cameras(base_dir: str,
                  drop_first_n_frames: int = 30,
                  sync_method: str = 'backend_t'):
-    calibration = json.load(open(osp.join(base_dir, 'calibration.json')))
+    try:
+        calibration = json.load(open(osp.join(base_dir, 'calibration.json')))
+    except Exception as e:
+        logging.warning(e)
+        calibration = None
     recording_metadata = json.load(open(osp.join(base_dir, 'metadata_all.json')))
     cam_ids = list(recording_metadata['metadata'].keys())
 
@@ -51,8 +56,12 @@ def sync_cameras(base_dir: str,
         ) for cam_id in cam_ids
     }
 
-    master_cam_id = list(filter(lambda x: 'to' not in x, calibration['camera_poses'].keys()))[0]
-    slave_cam_ids = list(filter(lambda x: x != master_cam_id, calibration['cameras'].keys()))
+    if calibration is not None:
+        master_cam_id = list(filter(lambda x: 'to' not in x, calibration['camera_poses'].keys()))[0]
+        slave_cam_ids = list(filter(lambda x: x != master_cam_id, calibration['cameras'].keys()))
+    else:
+        master_cam_id = cam_ids[0]
+        slave_cam_ids = cam_ids[1:]
 
     closest_value_map = {
         master_cam_id: timestamp_map[master_cam_id]

setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name="markit-realsense-recorder",
-    version="1.8.0",
+    version="1.8.2",
     author="davidliyutong",
     author_email="davidliyutong@sjtu.edu.cn",
     description="Realsense remote recorder",