Create converting-wayve-scenes-101-to-mcap.py

mcap/wayve-scenes-101/converting-wayve-scenes-101-to-mcap.py

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+# WayveScenes101
+
+# Import required libraries
+import io
+from PIL import Image
+import pycolmap
+from foxglove_schemas_protobuf.CompressedImage_pb2 import CompressedImage
+from google.protobuf.timestamp_pb2 import Timestamp
+from mcap_protobuf.writer import Writer
+
+# Define paths
+DATASET_PATH = "/path/to/wayve_scenes_101"
+SCENE = "scene_001"
+RECONSTRUCTION = "colmap_sparse/rig/"
+IMAGES_FOLDER = "images"
+MCAP_FILE = "wayve_scenes_101.mcap"
+
+# Function to get image bytes
+def getImage(img_path: str) -> bytes:
+    with Image.open(f"{DATASET_PATH}/{SCENE}/{IMAGES_FOLDER}/{img_path}") as img:
+        img_byte_array = io.BytesIO()
+        img.save(img_byte_array, format="JPEG")
+        img_bytes = img_byte_array.getvalue()
+    return img_bytes
+
+# Function to create a CompressedImage message
+def getCompressedImgMsg(img: pycolmap.Image) -> CompressedImage:
+    img_path = img.name
+
+    # Extract timestamp from filename
+    timestamp_micros = int(img_path.split('/')[-1].split('.')[0])
+    seconds = timestamp_micros // int(1e6)
+    nanos = (timestamp_micros - int(1e6) * seconds) * int(1e3)
+    timestamp_ns = (seconds * int(1e9)) + (nanos // int(1e3))
+
+    # Create and populate the CompressedImage message
+    img_msg = CompressedImage()
+    img_msg.timestamp.CopyFrom(Timestamp(seconds=seconds, nanos=nanos))
+    img_msg.frame_id = f"camera-{img.camera_id}"
+    img_msg.data = getImage(img_path)
+    img_msg.format = "jpg"
+
+    return img_msg, timestamp_ns
+
+# Load the reconstruction
+scene = pycolmap.Reconstruction(f"{DATASET_PATH}/{SCENE}/{RECONSTRUCTION}")
+
+# Write to .mcap file
+with open(MCAP_FILE, "wb") as f, Writer(f) as mcap_writer:
+    for _, img in scene.images.items():
+        # Generate the protobuf message
+        img_msg, timestamp_ns = getCompressedImgMsg(img)
+
+        # Write message to .mcap
+        mcap_writer.write_message(
+            topic="wayve/image_data",  # Use a meaningful topic name
+            message=img_msg,
+            log_time=timestamp_ns,
+            publish_time=timestamp_ns,
+        )
+        print(f"Processed and wrote image: {img.name}")
+
+print(f"Data successfully written to {MCAP_FILE}")