initial

tools/video_to_rgb_frames.py

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+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+import cv2
+
+
+DEFAULT_VIDEO_DIR = Path("d405_recordings")
+DEFAULT_OUTPUT_DIR = Path("d405_rgb_frames")
+DEFAULT_TARGET_FPS = 8.0
+
+
+def find_latest_video(video_dir: Path) -> Path:
+    candidates = sorted(video_dir.glob("*.mp4"), key=lambda path: path.stat().st_mtime, reverse=True)
+    if not candidates:
+        raise FileNotFoundError(f"No .mp4 videos found in {video_dir.resolve()}")
+    return candidates[0]
+
+
+def extract_frames(video_path: Path, output_dir: Path, target_fps: float) -> None:
+    cap = cv2.VideoCapture(str(video_path))
+    if not cap.isOpened():
+        raise RuntimeError(f"Failed to open video: {video_path}")
+
+    source_fps = cap.get(cv2.CAP_PROP_FPS)
+    if source_fps <= 0:
+        source_fps = 30.0
+
+    frame_interval = max(source_fps / target_fps, 1.0)
+    next_frame_to_save = 0.0
+    frame_index = 0
+    saved_count = 0
+
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    print("-" * 40)
+    print(f"Input video : {video_path.resolve()}")
+    print(f"Output dir  : {output_dir.resolve()}")
+    print(f"Source FPS  : {source_fps:.2f}")
+    print(f"Target FPS  : {target_fps:.2f}")
+    print("-" * 40)
+
+    try:
+        while True:
+            success, frame = cap.read()
+            if not success:
+                break
+
+            if frame_index + 1e-6 >= next_frame_to_save:
+                saved_count += 1
+                image_path = output_dir / f"{saved_count:06d}.jpg"
+                cv2.imwrite(str(image_path), frame)
+                next_frame_to_save += frame_interval
+
+            frame_index += 1
+    finally:
+        cap.release()
+
+    print(f"Saved {saved_count} RGB frames.")
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Extract RGB frames from a recorded D405 video at 8 FPS.",
+    )
+    parser.add_argument(
+        "--video",
+        type=Path,
+        default=None,
+        help="Path to the input video. If omitted, the latest video in d405_recordings is used.",
+    )
+    parser.add_argument(
+        "--output-dir",
+        type=Path,
+        default=None,
+        help="Directory to save extracted RGB images.",
+    )
+    parser.add_argument(
+        "--target-fps",
+        type=float,
+        default=DEFAULT_TARGET_FPS,
+        help="Frame extraction rate. Default is 8 FPS.",
+    )
+    return parser.parse_args()
+
+
+def main() -> None:
+    args = parse_args()
+    video_path = args.video if args.video is not None else find_latest_video(DEFAULT_VIDEO_DIR)
+    if not video_path.exists():
+        raise FileNotFoundError(f"Video file does not exist: {video_path.resolve()}")
+
+    output_dir = args.output_dir
+    if output_dir is None:
+        output_dir = DEFAULT_OUTPUT_DIR / video_path.stem
+
+    if args.target_fps <= 0:
+        raise ValueError("--target-fps must be greater than 0.")
+
+    extract_frames(video_path, output_dir, args.target_fps)
+
+
+if __name__ == "__main__":
+    main()