sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

feat(clip): title and metadata overlay (#35099)

Browse Source 
* wip

* moar

* ensure inter is installed

* line len

* refactor

* dont need this

* no longer than

* show meta for 4s
pull/35123/head
Trey Moen 5 days ago committed by GitHub
parent 8ee99523f4
commit f704d18a8b
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
3 changed files with 65 additions and 23 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 64
      tools/clip/run.py
  2. 1
      tools/install_ubuntu_dependencies.sh
  3. 7
      tools/lib/route.py

64
tools/clip/run.py
Unescape View File

@ -16,7 +16,7 @@ from typing import Literal
from cereal.messaging import SubMaster
from openpilot.common.basedir import BASEDIR
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.tools.lib.route import SegmentRange, get_max_seg_number_cached
from openpilot.tools.lib.route import Route
DEFAULT_OUTPUT = 'output.mp4'
DEMO_START = 90
@ -26,7 +26,7 @@ FRAMERATE = 20
PIXEL_DEPTH = '24'
RESOLUTION = '2160x1080'
SECONDS_TO_WARM = 2
PROC_WAIT_SECONDS = 5
PROC_WAIT_SECONDS = 30
REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve())
UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
@ -52,6 +52,29 @@ def check_for_failure(proc: Popen):
raise ChildProcessError(msg)
def escape_ffmpeg_text(value: str):
special_chars = {',': '\\,', ':': '\\:', '=': '\\=', '[': '\\[', ']': '\\]'}
value = value.replace('\\', '\\\\\\\\\\\\\\\\')
for char, escaped in special_chars.items():
value = value.replace(char, escaped)
return value
def get_meta_text(route: Route):
metadata = route.get_metadata()
origin_parts = metadata['git_remote'].split('/')
origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown'
return ', '.join([
f'openpilot v{metadata['version']}',
f'route: {metadata['fullname']}',
f'car: {metadata['platform']}',
f'origin: {origin}',
f'branch: {metadata['git_branch']}',
f'commit: {metadata['git_commit'][:7]}',
f'modified: {str(metadata['git_dirty']).lower()}',
])
def parse_args(parser: ArgumentParser):
args = parser.parse_args()
if args.demo:
@ -74,16 +97,13 @@ def parse_args(parser: ArgumentParser):
if args.start < SECONDS_TO_WARM:
parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
# if using local files, don't worry about length check right now so we skip the network call
# TODO: derive segment count from local FS
if not args.data_dir:
try:
num_segs = get_max_seg_number_cached(SegmentRange(args.route))
args.route = Route(args.route, data_dir=args.data_dir)
except Exception as e:
parser.error(f'failed to get route length: {e}')
parser.error(f'failed to get route: {e}')
# FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data
length = round(num_segs * 60)
length = round(args.route.max_seg_number * 60)
if args.start >= length:
parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
if args.end > length:
@ -119,6 +139,12 @@ def validate_route(route: str):
return route
def validate_title(title: str):
if len(title) > 80:
raise ArgumentTypeError('title must be no longer than 80 chars')
return title
def wait_for_frames(procs: list[Popen]):
sm = SubMaster(['uiDebug'])
no_frames_drawn = True
@ -129,20 +155,27 @@ def wait_for_frames(procs: list[Popen]):
check_for_failure(proc)
def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: str, output_filepath: str, start: int, end: int, target_size_mb: int):
logger.info(f'clipping route {route}, start={start} end={end} quality={quality} target_filesize={target_size_mb}MB')
def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: Route, out: str, start: int, end: int, target_mb: int, title: str | None):
logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB')
begin_at = max(start - SECONDS_TO_WARM, 0)
duration = end - start
bit_rate_kbps = int(round(target_size_mb * 8 * 1024 * 1024 / duration / 1000))
bit_rate_kbps = int(round(target_mb * 8 * 1024 * 1024 / duration / 1000))
# TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision
display = f':{randint(99, 999)}'
meta_text = get_meta_text(route)
overlays = [
f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:box=1:boxcolor=black@0.33:boxborderw=7:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'"
]
if title:
overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:box=1:boxcolor=black@0.33:boxborderw=10:x=(w-text_w)/2:y=53")
ffmpeg_cmd = [
'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0',
'-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23',
'-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), output_filepath,
'-filter:v', ','.join(overlays), '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), out
]
replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix]
@ -150,7 +183,7 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou
replay_cmd.extend(['--data_dir', data_dir])
if quality == 'low':
replay_cmd.append('--qcam')
replay_cmd.append(route)
replay_cmd.append(route.name.canonical_name)
ui_cmd = [UI, '-platform', 'xcb']
xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}']
@ -183,7 +216,7 @@ def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, rou
ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
for proc in procs:
check_for_failure(proc)
logger.info(f'recording complete: {Path(output_filepath).resolve()}')
logger.info(f'recording complete: {Path(out).resolve()}')
def main():
@ -199,9 +232,10 @@ def main():
p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title)
args = parse_args(p)
try:
clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size)
clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size, args.title)
except KeyboardInterrupt as e:
logger.exception('interrupted by user', exc_info=e)
except Exception as e:

1
tools/install_ubuntu_dependencies.sh
Unescape View File

@ -33,6 +33,7 @@ function install_ubuntu_common_requirements() {
git \
git-lfs \
ffmpeg \
fonts-inter \
libavformat-dev \
libavcodec-dev \
libavdevice-dev \

7
tools/lib/route.py
Unescape View File

@ -21,6 +21,7 @@ class Route:
def __init__(self, name, data_dir=None):
self._name = RouteName(name)
self.files = None
self.metadata = None
if data_dir is not None:
self._segments = self._get_segments_local(data_dir)
else:
@ -59,6 +60,12 @@ class Route:
qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments}
return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
def get_metadata(self):
if not self.metadata:
api = CommaApi(get_token())
self.metadata = api.get('v1/route/' + self.name.canonical_name)
return self.metadata
# TODO: refactor this, it's super repetitive
def _get_segments_remote(self):
api = CommaApi(get_token())

Write Preview
Loading…
Cancel
Save