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mkv_reader.py
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mkv_reader.py
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import sys
import os
from struct import unpack
import datetime
import binascii
import json
import cv2
import numpy as np
class TRACK:
COLOR = 1
DEPTH = 2
IR = 3
IMU = 4
def ord(x):
if type(x)==bytes:
if len(x) == 0:
raise StopIteration
return x[0]
else:
return x
def get_major_bit_number(n):
'''
Takes uint8, returns number of the most significant bit plus the number with that bit cleared.
Examples:
0b10010101 -> (0, 0b00010101)
0b00010101 -> (3, 0b00000101)
0b01111111 -> (1, 0b00111111)
'''
if not n:
raise Exception("Bad number")
i=0x80
r=0
while not n&i:
r+=1
i>>=1
return (r,n&~i)
def read_matroska_number(f, unmodified=False, signed=False):
'''
Read ebml number. Unmodified means don't clear the length bit (as in Element IDs)
Returns the number and it's length as a tuple
See examples in "parse_matroska_number" function
'''
if unmodified and signed:
raise Exception("Contradictary arguments")
first_byte=f.read(1)
if(first_byte==""):
raise StopIteration
r = ord(first_byte)
(n,r2) = get_major_bit_number(r)
if not unmodified:
r=r2
# from now "signed" means "negative"
i=n
while i:
r = r * 0x100 + ord(f.read(1))
i-=1
if signed:
r-=(2**(7*n+7)-1)
else:
if r==2**(7*n+7)-1:
return (-1, n+1)
return (r,n+1)
def parse_matroska_number(data, pos, unmodified=False, signed=False):
'''
Parse ebml number from buffer[pos:]. Just like read_matroska_number.
Unmodified means don't clear the length bit (as in Element IDs)
Returns the number plus the new position in input buffer
Examples:
"\x81" -> (1, pos+1)
"\x40\x01" -> (1, pos+2)
"\x20\x00\x01" -> (1, pos+3)
"\x3F\xFF\xFF" -> (0x1FFFFF, pos+3)
"\x20\x00\x01" unmodified -> (0x200001, pos+3)
"\xBF" signed -> (0, pos+1)
"\xBE" signed -> (-1, pos+1)
"\xC0" signed -> (1, pos+1)
"\x5F\xEF" signed -> (-16, pos+2)
'''
if unmodified and signed:
raise Exception("Contradictary arguments")
r = ord(data[pos])
pos+=1
(n,r2) = get_major_bit_number(r)
if not unmodified:
r=r2
# from now "signed" means "negative"
i=n
while i:
r = r * 0x100 + ord(data[pos])
pos+=1
i-=1
if signed:
r-=(2**(7*n+6)-1)
else:
if r==2**(7*n+7)-1:
return (-1, pos)
return (r,pos)
def parse_xiph_number(data, pos):
'''
Parse the Xiph lacing number from data[pos:]
Returns the number plus the new position
Examples:
"\x01" -> (1, pos+1)
"\x55" -> (0x55, pos+1)
"\xFF\x04" -> (0x103, pos+2)
"\xFF\xFF\x04" -> (0x202, pos+3)
"\xFF\xFF\x00" -> (0x1FE, pos+3)
'''
v = ord(data[pos])
pos+=1
r=0
while v==255:
r+=v
v = ord(data[pos])
pos+=1
r+=v
return (r, pos)
def parse_fixedlength_number(data, pos, length, signed=False):
'''
Read the big-endian number from data[pos:pos+length]
Returns the number plus the new position
Examples:
"\x01" -> (0x1, pos+1)
"\x55" -> (0x55, pos+1)
"\x55" signed -> (0x55, pos+1)
"\xFF\x04" -> (0xFF04, pos+2)
"\xFF\x04" signed -> (-0x00FC, pos+2)
'''
r=0
for i in range(length):
r=r*0x100+ord(data[pos+i])
if signed:
if ord(data[pos]) & 0x80:
r-=2**(8*length)
return (r, pos+length)
def read_fixedlength_number(f, length, signed=False):
""" Read length bytes and parse (parse_fixedlength_number) it.
Returns only the number"""
buf = f.read(length)
(r, pos) = parse_fixedlength_number(buf, 0, length, signed)
return r
def read_ebml_element_header(f):
'''
Read Element ID and size
Returns id, element size and this header size
'''
(id_, n) = read_matroska_number(f, unmodified=True)
(size, n2) = read_matroska_number(f)
return (id_, size, n+n2)
class EbmlElementType:
VOID=0
MASTER=1 # read all subelements and return tree. Don't use this too large things like Segment
UNSIGNED=2
SIGNED=3
TEXTA=4
TEXTU=5
BINARY=6
FLOAT=7
DATE=8
JUST_GO_ON=10 # For "Segment".
# Actually MASTER, but don't build the tree for all subelements,
# interpreting all child elements as if they were top-level elements
EET=EbmlElementType
element_types_names = {
0x1A45DFA3: (EET.MASTER, "EBML"),
0x4286: (EET.UNSIGNED, "EBMLVersion"),
0x42F7: (EET.UNSIGNED, "EBMLReadVersion"),
0x42F2: (EET.UNSIGNED, "EBMLMaxIDLength"),
0x42F3: (EET.UNSIGNED, "EBMLMaxSizeLength"),
0x4282: (EET.TEXTA, "DocType"),
0x4287: (EET.UNSIGNED, "DocTypeVersion"),
0x4285: (EET.UNSIGNED, "DocTypeReadVersion"),
0xEC: (EET.BINARY, "Void"),
0xBF: (EET.BINARY, "CRC-32"),
0x1B538667: (EET.MASTER, "SignatureSlot"),
0x7E8A: (EET.UNSIGNED, "SignatureAlgo"),
0x7E9A: (EET.UNSIGNED, "SignatureHash"),
0x7EA5: (EET.BINARY, "SignaturePublicKey"),
0x7EB5: (EET.BINARY, "Signature"),
0x7E5B: (EET.MASTER, "SignatureElements"),
0x7E7B: (EET.MASTER, "SignatureElementList"),
0x6532: (EET.BINARY, "SignedElement"),
0x18538067: (EET.JUST_GO_ON, "Segment"),
0x114D9B74: (EET.MASTER, "SeekHead"),
0x4DBB: (EET.MASTER, "Seek"),
0x53AB: (EET.BINARY, "SeekID"),
0x53AC: (EET.UNSIGNED, "SeekPosition"),
0x1549A966: (EET.MASTER, "Info"),
0x73A4: (EET.BINARY, "SegmentUID"),
0x7384: (EET.TEXTU, "SegmentFilename"),
0x3CB923: (EET.BINARY, "PrevUID"),
0x3C83AB: (EET.TEXTU, "PrevFilename"),
0x3EB923: (EET.BINARY, "NextUID"),
0x3E83BB: (EET.TEXTU, "NextFilename"),
0x4444: (EET.BINARY, "SegmentFamily"),
0x6924: (EET.MASTER, "ChapterTranslate"),
0x69FC: (EET.UNSIGNED, "ChapterTranslateEditionUID"),
0x69BF: (EET.UNSIGNED, "ChapterTranslateCodec"),
0x69A5: (EET.BINARY, "ChapterTranslateID"),
0x2AD7B1: (EET.UNSIGNED, "TimestampScale"),
0x4489: (EET.FLOAT, "Duration"),
0x4461: (EET.DATE, "DateUTC"),
0x7BA9: (EET.TEXTU, "Title"),
0x4D80: (EET.TEXTU, "MuxingApp"),
0x5741: (EET.TEXTU, "WritingApp"),
0x1F43B675: (EET.JUST_GO_ON, "Cluster"),
0xE7: (EET.UNSIGNED, "Timestamp"),
0x5854: (EET.MASTER, "SilentTracks"),
0x58D7: (EET.UNSIGNED, "SilentTrackNumber"),
0xA7: (EET.UNSIGNED, "Position"),
0xAB: (EET.UNSIGNED, "PrevSize"),
0xA3: (EET.BINARY, "SimpleBlock"),
0xA0: (EET.MASTER, "BlockGroup"),
0xA1: (EET.BINARY, "Block"),
0xA2: (EET.BINARY, "BlockVirtual"),
0x75A1: (EET.MASTER, "BlockAdditions"),
0xA6: (EET.MASTER, "BlockMore"),
0xEE: (EET.UNSIGNED, "BlockAddID"),
0xA5: (EET.BINARY, "BlockAdditional"),
0x9B: (EET.UNSIGNED, "BlockDuration"),
0xFA: (EET.UNSIGNED, "ReferencePriority"),
0xFB: (EET.SIGNED, "ReferenceBlock"),
0xFD: (EET.SIGNED, "ReferenceVirtual"),
0xA4: (EET.BINARY, "CodecState"),
0x75A2: (EET.SIGNED, "DiscardPadding"),
0x8E: (EET.MASTER, "Slices"),
0xE8: (EET.MASTER, "TimeSlice"),
0xCC: (EET.UNSIGNED, "LaceNumber"),
0xCD: (EET.UNSIGNED, "FrameNumber"),
0xCB: (EET.UNSIGNED, "BlockAdditionID"),
0xCE: (EET.UNSIGNED, "Delay"),
0xCF: (EET.UNSIGNED, "SliceDuration"),
0xC8: (EET.MASTER, "ReferenceFrame"),
0xC9: (EET.UNSIGNED, "ReferenceOffset"),
0xCA: (EET.UNSIGNED, "ReferenceTimestamp"),
0xAF: (EET.BINARY, "EncryptedBlock"),
0x1654AE6B: (EET.MASTER, "Tracks"),
0xAE: (EET.MASTER, "TrackEntry"),
0xD7: (EET.UNSIGNED, "TrackNumber"),
0x73C5: (EET.UNSIGNED, "TrackUID"),
0x83: (EET.UNSIGNED, "TrackType"),
0xB9: (EET.UNSIGNED, "FlagEnabled"),
0x88: (EET.UNSIGNED, "FlagDefault"),
0x55AA: (EET.UNSIGNED, "FlagForced"),
0x9C: (EET.UNSIGNED, "FlagLacing"),
0x6DE7: (EET.UNSIGNED, "MinCache"),
0x6DF8: (EET.UNSIGNED, "MaxCache"),
0x23E383: (EET.UNSIGNED, "DefaultDuration"),
0x234E7A: (EET.UNSIGNED, "DefaultDecodedFieldDuration"),
0x23314F: (EET.FLOAT, "TrackTimestampScale"),
0x537F: (EET.SIGNED, "TrackOffset"),
0x55EE: (EET.UNSIGNED, "MaxBlockAdditionID"),
0x41E4: (EET.MASTER, "BlockAdditionMapping"),
0x41F0: (EET.UNSIGNED, "BlockAddIDValue"),
0x41A4: (EET.TEXTA, "BlockAddIDName"),
0x41E7: (EET.UNSIGNED, "BlockAddIDType"),
0x41ED: (EET.BINARY, "BlockAddIDExtraData"),
0x536E: (EET.TEXTU, "Name"),
0x22B59C: (EET.TEXTA, "Language"),
0x22B59D: (EET.TEXTA, "LanguageIETF"),
0x86: (EET.TEXTA, "CodecID"),
0x63A2: (EET.BINARY, "CodecPrivate"),
0x258688: (EET.TEXTU, "CodecName"),
0x7446: (EET.UNSIGNED, "AttachmentLink"),
0x3A9697: (EET.TEXTU, "CodecSettings"),
0x3B4040: (EET.TEXTA, "CodecInfoURL"),
0x26B240: (EET.TEXTA, "CodecDownloadURL"),
0xAA: (EET.UNSIGNED, "CodecDecodeAll"),
0x6FAB: (EET.UNSIGNED, "TrackOverlay"),
0x56AA: (EET.UNSIGNED, "CodecDelay"),
0x56BB: (EET.UNSIGNED, "SeekPreRoll"),
0x6624: (EET.MASTER, "TrackTranslate"),
0x66FC: (EET.UNSIGNED, "TrackTranslateEditionUID"),
0x66BF: (EET.UNSIGNED, "TrackTranslateCodec"),
0x66A5: (EET.BINARY, "TrackTranslateTrackID"),
0xE0: (EET.MASTER, "Video"),
0x9A: (EET.UNSIGNED, "FlagInterlaced"),
0x9D: (EET.UNSIGNED, "FieldOrder"),
0x53B8: (EET.UNSIGNED, "StereoMode"),
0x53C0: (EET.UNSIGNED, "AlphaMode"),
0x53B9: (EET.UNSIGNED, "OldStereoMode"),
0xB0: (EET.UNSIGNED, "PixelWidth"),
0xBA: (EET.UNSIGNED, "PixelHeight"),
0x54AA: (EET.UNSIGNED, "PixelCropBottom"),
0x54BB: (EET.UNSIGNED, "PixelCropTop"),
0x54CC: (EET.UNSIGNED, "PixelCropLeft"),
0x54DD: (EET.UNSIGNED, "PixelCropRight"),
0x54B0: (EET.UNSIGNED, "DisplayWidth"),
0x54BA: (EET.UNSIGNED, "DisplayHeight"),
0x54B2: (EET.UNSIGNED, "DisplayUnit"),
0x54B3: (EET.UNSIGNED, "AspectRatioType"),
0x2EB524: (EET.BINARY, "ColourSpace"),
0x2FB523: (EET.FLOAT, "GammaValue"),
0x2383E3: (EET.FLOAT, "FrameRate"),
0x55B0: (EET.MASTER, "Colour"),
0x55B1: (EET.UNSIGNED, "MatrixCoefficients"),
0x55B2: (EET.UNSIGNED, "BitsPerChannel"),
0x55B3: (EET.UNSIGNED, "ChromaSubsamplingHorz"),
0x55B4: (EET.UNSIGNED, "ChromaSubsamplingVert"),
0x55B5: (EET.UNSIGNED, "CbSubsamplingHorz"),
0x55B6: (EET.UNSIGNED, "CbSubsamplingVert"),
0x55B7: (EET.UNSIGNED, "ChromaSitingHorz"),
0x55B8: (EET.UNSIGNED, "ChromaSitingVert"),
0x55B9: (EET.UNSIGNED, "Range"),
0x55BA: (EET.UNSIGNED, "TransferCharacteristics"),
0x55BB: (EET.UNSIGNED, "Primaries"),
0x55BC: (EET.UNSIGNED, "MaxCLL"),
0x55BD: (EET.UNSIGNED, "MaxFALL"),
0x55D0: (EET.MASTER, "MasteringMetadata"),
0x55D1: (EET.FLOAT, "PrimaryRChromaticityX"),
0x55D2: (EET.FLOAT, "PrimaryRChromaticityY"),
0x55D3: (EET.FLOAT, "PrimaryGChromaticityX"),
0x55D4: (EET.FLOAT, "PrimaryGChromaticityY"),
0x55D5: (EET.FLOAT, "PrimaryBChromaticityX"),
0x55D6: (EET.FLOAT, "PrimaryBChromaticityY"),
0x55D7: (EET.FLOAT, "WhitePointChromaticityX"),
0x55D8: (EET.FLOAT, "WhitePointChromaticityY"),
0x55D9: (EET.FLOAT, "LuminanceMax"),
0x55DA: (EET.FLOAT, "LuminanceMin"),
0x7670: (EET.MASTER, "Projection"),
0x7671: (EET.UNSIGNED, "ProjectionType"),
0x7672: (EET.BINARY, "ProjectionPrivate"),
0x7673: (EET.FLOAT, "ProjectionPoseYaw"),
0x7674: (EET.FLOAT, "ProjectionPosePitch"),
0x7675: (EET.FLOAT, "ProjectionPoseRoll"),
0xE1: (EET.MASTER, "Audio"),
0xB5: (EET.FLOAT, "SamplingFrequency"),
0x78B5: (EET.FLOAT, "OutputSamplingFrequency"),
0x9F: (EET.UNSIGNED, "Channels"),
0x7D7B: (EET.BINARY, "ChannelPositions"),
0x6264: (EET.UNSIGNED, "BitDepth"),
0xE2: (EET.MASTER, "TrackOperation"),
0xE3: (EET.MASTER, "TrackCombinePlanes"),
0xE4: (EET.MASTER, "TrackPlane"),
0xE5: (EET.UNSIGNED, "TrackPlaneUID"),
0xE6: (EET.UNSIGNED, "TrackPlaneType"),
0xE9: (EET.MASTER, "TrackJoinBlocks"),
0xED: (EET.UNSIGNED, "TrackJoinUID"),
0xC0: (EET.UNSIGNED, "TrickTrackUID"),
0xC1: (EET.BINARY, "TrickTrackSegmentUID"),
0xC6: (EET.UNSIGNED, "TrickTrackFlag"),
0xC7: (EET.UNSIGNED, "TrickMasterTrackUID"),
0xC4: (EET.BINARY, "TrickMasterTrackSegmentUID"),
0x6D80: (EET.MASTER, "ContentEncodings"),
0x6240: (EET.MASTER, "ContentEncoding"),
0x5031: (EET.UNSIGNED, "ContentEncodingOrder"),
0x5032: (EET.UNSIGNED, "ContentEncodingScope"),
0x5033: (EET.UNSIGNED, "ContentEncodingType"),
0x5034: (EET.MASTER, "ContentCompression"),
0x4254: (EET.UNSIGNED, "ContentCompAlgo"),
0x4255: (EET.BINARY, "ContentCompSettings"),
0x5035: (EET.MASTER, "ContentEncryption"),
0x47E1: (EET.UNSIGNED, "ContentEncAlgo"),
0x47E2: (EET.BINARY, "ContentEncKeyID"),
0x47E7: (EET.MASTER, "ContentEncAESSettings"),
0x47E8: (EET.UNSIGNED, "AESSettingsCipherMode"),
0x47E3: (EET.BINARY, "ContentSignature"),
0x47E4: (EET.BINARY, "ContentSigKeyID"),
0x47E5: (EET.UNSIGNED, "ContentSigAlgo"),
0x47E6: (EET.UNSIGNED, "ContentSigHashAlgo"),
0x1C53BB6B: (EET.MASTER, "Cues"),
0xBB: (EET.MASTER, "CuePoint"),
0xB3: (EET.UNSIGNED, "CueTime"),
0xB7: (EET.MASTER, "CueTrackPositions"),
0xF7: (EET.UNSIGNED, "CueTrack"),
0xF1: (EET.UNSIGNED, "CueClusterPosition"),
0xF0: (EET.UNSIGNED, "CueRelativePosition"),
0xB2: (EET.UNSIGNED, "CueDuration"),
0x5378: (EET.UNSIGNED, "CueBlockNumber"),
0xEA: (EET.UNSIGNED, "CueCodecState"),
0xDB: (EET.MASTER, "CueReference"),
0x96: (EET.UNSIGNED, "CueRefTime"),
0x97: (EET.UNSIGNED, "CueRefCluster"),
0x535F: (EET.UNSIGNED, "CueRefNumber"),
0xEB: (EET.UNSIGNED, "CueRefCodecState"),
0x1941A469: (EET.MASTER, "Attachments"),
0x61A7: (EET.MASTER, "AttachedFile"),
0x467E: (EET.TEXTU, "FileDescription"),
0x466E: (EET.TEXTU, "FileName"),
0x4660: (EET.TEXTA, "FileMimeType"),
0x465C: (EET.BINARY, "FileData"),
0x46AE: (EET.UNSIGNED, "FileUID"),
0x4675: (EET.BINARY, "FileReferral"),
0x4661: (EET.UNSIGNED, "FileUsedStartTime"),
0x4662: (EET.UNSIGNED, "FileUsedEndTime"),
0x1043A770: (EET.MASTER, "Chapters"),
0x45B9: (EET.MASTER, "EditionEntry"),
0x45BC: (EET.UNSIGNED, "EditionUID"),
0x45BD: (EET.UNSIGNED, "EditionFlagHidden"),
0x45DB: (EET.UNSIGNED, "EditionFlagDefault"),
0x45DD: (EET.UNSIGNED, "EditionFlagOrdered"),
0xB6: (EET.MASTER, "ChapterAtom"),
0x73C4: (EET.UNSIGNED, "ChapterUID"),
0x5654: (EET.TEXTU, "ChapterStringUID"),
0x91: (EET.UNSIGNED, "ChapterTimeStart"),
0x92: (EET.UNSIGNED, "ChapterTimeEnd"),
0x98: (EET.UNSIGNED, "ChapterFlagHidden"),
0x4598: (EET.UNSIGNED, "ChapterFlagEnabled"),
0x6E67: (EET.BINARY, "ChapterSegmentUID"),
0x6EBC: (EET.UNSIGNED, "ChapterSegmentEditionUID"),
0x63C3: (EET.UNSIGNED, "ChapterPhysicalEquiv"),
0x8F: (EET.MASTER, "ChapterTrack"),
0x89: (EET.UNSIGNED, "ChapterTrackUID"),
0x80: (EET.MASTER, "ChapterDisplay"),
0x85: (EET.TEXTU, "ChapString"),
0x437C: (EET.TEXTA, "ChapLanguage"),
0x437D: (EET.TEXTA, "ChapLanguageIETF"),
0x437E: (EET.TEXTA, "ChapCountry"),
0x6944: (EET.MASTER, "ChapProcess"),
0x6955: (EET.UNSIGNED, "ChapProcessCodecID"),
0x450D: (EET.BINARY, "ChapProcessPrivate"),
0x6911: (EET.MASTER, "ChapProcessCommand"),
0x6922: (EET.UNSIGNED, "ChapProcessTime"),
0x6933: (EET.BINARY, "ChapProcessData"),
0x1254C367: (EET.MASTER, "Tags"),
0x7373: (EET.MASTER, "Tag"),
0x63C0: (EET.MASTER, "Targets"),
0x68CA: (EET.UNSIGNED, "TargetTypeValue"),
0x63CA: (EET.TEXTA, "TargetType"),
0x63C5: (EET.UNSIGNED, "TagTrackUID"),
0x63C9: (EET.UNSIGNED, "TagEditionUID"),
0x63C4: (EET.UNSIGNED, "TagChapterUID"),
0x63C6: (EET.UNSIGNED, "TagAttachmentUID"),
0x67C8: (EET.MASTER, "SimpleTag"),
0x45A3: (EET.TEXTU, "TagName"),
0x447A: (EET.TEXTA, "TagLanguage"),
0x447B: (EET.TEXTA, "TagLanguageIETF"),
0x4484: (EET.UNSIGNED, "TagDefault"),
0x4487: (EET.TEXTU, "TagString"),
0x4485: (EET.BINARY, "TagBinary"),
}
def read_simple_element(f, type_, size):
date = None
if size==0:
return ""
if type_==EET.UNSIGNED:
data=read_fixedlength_number(f, size, False)
elif type_==EET.SIGNED:
data=read_fixedlength_number(f, size, True)
elif type_==EET.TEXTA:
data=f.read(size)
data = data.replace(b"\x00", b"") # filter out \0, for gstreamer
data = data.decode("ascii")
elif type_==EET.TEXTU:
data=f.read(size)
data = data.replace(b"\x00", b"") # filter out \0, for gstreamer
data = data.decode("UTF-8")
elif type_==EET.MASTER:
data=read_ebml_element_tree(f, size)
elif type_==EET.DATE:
data=read_fixedlength_number(f, size, True)
data*= 1e-9
data+= (datetime.datetime(2001, 1, 1) - datetime.datetime(1970, 1, 1)).total_seconds()
# now should be UNIX date
elif type_==EET.FLOAT:
if size==4:
data = f.read(4)
data = unpack(">f", data)[0]
elif size==8:
data = f.read(8)
data = unpack(">d", data)[0]
else:
data=read_fixedlength_number(f, size, False)
sys.stderr.write("mkvparse: Floating point of size %d is not supported\n" % size)
data = None
else:
data=f.read(size)
if not data:
raise RuntimeError()
return data
def read_ebml_element_tree(f, total_size):
'''
Build tree of elements, reading f until total_size reached
Don't use for the whole segment, it's not Haskell
Returns list of pairs (element_name, element_value).
element_value can also be list of pairs
'''
childs=[]
while(total_size>0):
(id_, size, hsize) = read_ebml_element_header(f)
if size == -1:
sys.stderr.write("mkvparse: Element %x without size? Damaged data? Skipping %d bytes\n" % (id_, size, total_size))
f.read(total_size)
break
if size>total_size:
sys.stderr.write("mkvparse: Element %x with size %d? Damaged data? Skipping %d bytes\n" % (id_, size, total_size))
f.read(total_size)
break
type_ = EET.BINARY
name = "unknown_%x"%id_
if id_ in element_types_names:
(type_, name) = element_types_names[id_]
data = read_simple_element(f, type_, size)
total_size-=(size+hsize)
childs.append((name, (type_, data)))
return childs
class MKVReader():
timecode_scale = 1000000
current_cluster_timecode = 0
frameset_num = 0
def __init__(self, filepath, track_filter=(), debug=False):
self.filepath = os.path.realpath(filepath)
self.filename = os.path.basename(self.filepath)
self.file = open(self.filepath, "rb")
self.debug = debug
try:
self.track_filter = set(track_filter)
except TypeError:
self.track_filter = set((track_filter,))
# Note: reading IMU data from MKV is not currently implemented (but can VERY easily be implemented in several ways)
# This is because IMU track data occurs several times – whereas image track data only occurs once (per track) – for each Matroska cluster.
# Thus, the definition of "frameset" must be more explicitly defined if one wants to include IMU data.
# Currently, a frameset is parsed from a single Matroska cluster.
# Currently, an Azure MKV cluster either contains 0 (rare) or exactly 1 (common, barring frame drop) images per each type of track (color, depth, IR).
# Please contact the repo maintainer and/or file an issue for more information!
if TRACK.IMU in self.track_filter:
raise ValueError("Reading Azure Kinect DK IMU data is currently not implemented!")
self.read_metadata()
if self.debug:
self.print_file_info()
self.print_metadata()
def print_file_info(self, end=""):
print(f"Filename: {self.filename}")
print(f"Filepath: {self.filepath}")
print("Tracks:")
for k in self.tracks:
t=self.tracks[k]
print(f"\t{k}\t{t['Name'][1]}\t{t['type'][1]}\t{t['CodecID'][1]}")
if end:
print(end)
def print_metadata(self, end=""):
print("Metadata:")
for (k,(t_,v)) in self.file_metadata:
if t_ == EbmlElementType.BINARY: v = binascii.hexlify(v)
if t_ == EbmlElementType.DATE: v = str(datetime.datetime.utcfromtimestamp(v))
print(f"\t{k}: {v}")
if end:
print(end)
def read_metadata(self):
while not self.file.closed:
(id_, size, hsize) = (None, None, None)
tree = None
data = None
(type_, name) = (None, None)
try:
(id_, size, hsize) = read_ebml_element_header(self.file)
(type_, name) = element_types_names[id_]
if type_ == EET.MASTER:
tree = read_ebml_element_tree(self.file, size)
data = tree
except StopIteration:
raise EOFError()
if name=="Cluster":
return
if name=="Attachments":
d = dict(tree)
# seems like AttachedFile[0] is the # of files (for Azure Kinect DK, should be just 1 for calibration.json)
for (k, v) in d['AttachedFile'][1]:
# v is a tuple of (#, data)... not sure what the # is, so ignoring it
_, data = v
if k == 'FileName' and data.lower() != "calibration.json": raise FileNotFoundError("calibration file not found")
if k == 'FileData': self.calibration_raw = json.loads(data)
if not self.calibration_raw:
raise FileNotFoundError("calibration file data not found")
self.calibration = self.calibration_raw['CalibrationInformation']
if name=="EBML" and type(data) == list:
d = dict(tree)
if 'EBMLReadVersion' in d and d['EBMLReadVersion'][1]>1: sys.stderr.write("mkvparse: Warning: EBMLReadVersion too big\n")
if 'DocTypeReadVersion' in d and d['DocTypeReadVersion'][1]>2: sys.stderr.write("mkvparse: Warning: DocTypeReadVersion too big\n")
dt = d['DocType'][1]
if dt not in ("matroska", "webm"):
sys.stderr.write("mkvparse: Warning: EBML DocType is not \"matroska\" or \"webm\"")
elif name=="Info" and type(data) == list:
self.file_metadata = tree
d = dict(tree)
if "TimestampScale" in d:
self.timecode_scale = d["TimestampScale"][1]
elif name=="Tracks" and type(data) == list:
self.tracks={}
construct_track_filter = False
if len(self.track_filter) == 0:
construct_track_filter = True
for (ten, (_t, track)) in tree:
if ten != "TrackEntry": continue
d = dict(track)
n = d['TrackNumber'][1]
if construct_track_filter and n != TRACK.IMU: self.track_filter.add(n)
self.tracks[n]=d
tt = d['TrackType'][1]
if tt==0x01: d['type']='video'
elif tt==0x02: d['type']='audio'
elif tt==0x03: d['type']='complex'
elif tt==0x10: d['type']='logo'
elif tt==0x11: d['type']='subtitle'
elif tt==0x12: d['type']='button'
elif tt==0x20: d['type']='control'
if 'TrackTimestampScale' in d:
sys.stderr.write("mkvparse: Warning: TrackTimestampScale is not supported\n")
if 'ContentEncodings' in d:
try:
compr = dict(d["ContentEncodings"][1][0][1][1][0][1][1])
except:
sys.stderr.write("mkvparse: Warning: unsuccessfully tried " \
"to handle header removal compression\n")
else:
if type_!=EET.JUST_GO_ON and type_!=EET.MASTER:
data = read_simple_element(self.file, type_, size)
def get_calibration(self):
return self.calibration
def print_calibration(self, pretty=True):
print("Calibration:")
if pretty:
print(json.dumps(self.calibration, indent=2))
else:
print(self.calibration)
def handle_frame(self, track_id, timestamp, frameset, data, more_laced_frames, duration, keyframe, invisible, discardable):
if self.file.closed:
raise EOFError()
if track_id not in self.track_filter:
return
if track_id in frameset.keys():
raise RuntimeError(f"Track {track_id} already in current frameset! Should only be one frame per track per frameset.")
addstr = f"dur={duration:6f}" if duration else ""
if keyframe: addstr+=" key"
if invisible: addstr+=" invis"
if discardable: addstr+=" disc"
if self.debug: print(f"Frame for {track_id} ts={timestamp:06f} l={more_laced_frames} {addstr} len={len(data)} data={binascii.hexlify(data[0:10])}...")
if track_id == TRACK.COLOR:
data = cv2.imdecode(np.frombuffer(data, np.uint8), -1)
elif track_id in (TRACK.DEPTH, TRACK.IR):
arr = np.frombuffer(data, dtype=">i2")
# NFOV unbinned
if(arr.shape[0] == (640*576)):
data = arr.reshape(576, 640)
# NFOV 2x2 binned (SW)
elif(arr.shape[0] == (320*288)):
data = arr.reshape(288, 320)
# WFOV 2x2 binned
elif(arr.shape[0] == (512*512)):
data = arr.reshape(512, 512)
# WFOV unbinned, Passive IR
elif(arr.shape[0] == (1024*1024)):
data = arr.reshape(1024, 1024)
else:
print(f"ERROR: Received Depth/IR image in unknown format! Shape = {arr.shape}")
if data is not None:
frameset[track_id] = data
def handle_block(self, buffer, cluster_timecode, frameset, timecode_scale=1000000, duration=None):
'''
Decode a block, handling all lacings
'''
pos=0
(tracknum, pos) = parse_matroska_number(buffer, pos, signed=False)
(tcode, pos) = parse_fixedlength_number(buffer, pos, 2, signed=True)
flags = ord(buffer[pos]); pos+=1
f_keyframe = (flags&0x80 == 0x80)
f_invisible = (flags&0x08 == 0x08)
f_discardable = (flags&0x01 == 0x01)
laceflags=flags&0x06
block_timecode = (cluster_timecode + tcode)*(timecode_scale*0.000000001)
frameset['index'] = self.frameset_num
frameset['timestamp'] = block_timecode
if laceflags == 0x00: # no lacing
buf = buffer[pos:]
return self.handle_frame(tracknum, block_timecode, frameset, buf, 0, duration, f_keyframe, f_invisible, f_discardable)
if tracknum not in self.track_filter:
return
numframes = ord(buffer[pos]); pos+=1
numframes+=1
lengths=[]
if laceflags == 0x02: # Xiph lacing
accumlength=0
for i in range(numframes-1):
(l, pos) = parse_xiph_number(buffer, pos)
lengths.append(l)
accumlength+=l
lengths.append(len(buffer)-pos-accumlength)
elif laceflags == 0x06: # EBML lacing
accumlength=0
if numframes:
(flength, pos) = parse_matroska_number(buffer, pos, signed=False)
lengths.append(flength)
accumlength+=flength
for i in range(numframes-2):
(l, pos) = parse_matroska_number(buffer, pos, signed=True)
flength+=l
lengths.append(flength)
accumlength+=flength
lengths.append(len(buffer)-pos-accumlength)
elif laceflags==0x04: # Fixed size lacing
fl=int((len(buffer)-pos)/numframes)
for i in range(numframes):
lengths.append(fl)
more_laced_frames=numframes-1
for i in lengths:
buf = buffer[pos:pos+i]
pos+=i
self.handle_frame(tracknum, block_timecode, frameset, buf, more_laced_frames, duration, f_keyframe, f_invisible, f_discardable)
more_laced_frames-=1
def get_next_frameset(self):
next_byte = self.file.read(1)
if not next_byte:
if not self.file.closed:
self.file.close()
else:
raise EOFError(f"Reached end of file '{self.filename}'")
else:
self.file.seek(-1, 1)
frameset = {}
while not self.file.closed:
(id_, size, hsize) = (None, None, None)
tree = None
data = None
(type_, name) = (None, None)
try:
(id_, size, hsize) = read_ebml_element_header(self.file)
(type_, name) = element_types_names[id_]
if type_ == EET.MASTER:
tree = read_ebml_element_tree(self.file, size)
data = tree
except StopIteration:
self.file.close()
raise EOFError(f"Reached end of file '{self.filename}'")
if name in ("EBML", "Info", "Tracks") and type(data) == list:
raise RuntimeError("The read_metadata() function must be called exactly once before retrieving framesets.")
if name=="Cluster":
if len(set(frameset.keys()).intersection(self.track_filter)) == 0:
continue
self.frameset_num += 1
return frameset
# cluster contents:
elif name=="Timestamp" and type_ == EET.UNSIGNED:
data=read_fixedlength_number(self.file, size, False)
self.current_cluster_timecode = data
elif name=="SimpleBlock" and type_ == EET.BINARY:
data=self.file.read(size)
self.handle_block(data, self.current_cluster_timecode, frameset, self.timecode_scale, None)
elif name=="BlockGroup" and type_ == EET.MASTER:
d2 = dict(tree)
duration=None
if 'BlockDuration' in d2:
duration = d2['BlockDuration'][1]
duration = duration*0.000000001*self.timecode_scale
if 'Block' in d2:
self.handle_block(d2['Block'][1], self.current_cluster_timecode, frameset, self.timecode_scale, duration)
else:
if type_!=EET.JUST_GO_ON and type_!=EET.MASTER:
data = read_simple_element(self.file, type_, size)