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559 lines
15 KiB
559 lines
15 KiB
import json
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import os
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import pickle
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import struct
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import subprocess
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import threading
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from enum import IntEnum
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from functools import wraps
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import numpy as np
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from lru import LRU
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import _io
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from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR
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from openpilot.tools.lib.exceptions import DataUnreadableError
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from openpilot.tools.lib.vidindex import hevc_index
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from openpilot.common.file_helpers import atomic_write_in_dir
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from openpilot.tools.lib.filereader import FileReader, resolve_name
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HEVC_SLICE_B = 0
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HEVC_SLICE_P = 1
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HEVC_SLICE_I = 2
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class GOPReader:
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def get_gop(self, num):
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# returns (start_frame_num, num_frames, frames_to_skip, gop_data)
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raise NotImplementedError
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class DoNothingContextManager:
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def __enter__(self):
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return self
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def __exit__(self, *x):
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pass
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class FrameType(IntEnum):
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raw = 1
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h265_stream = 2
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def fingerprint_video(fn):
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with FileReader(fn) as f:
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header = f.read(4)
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if len(header) == 0:
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raise DataUnreadableError(f"{fn} is empty")
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elif header == b"\x00\xc0\x12\x00":
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return FrameType.raw
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elif header == b"\x00\x00\x00\x01":
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if 'hevc' in fn:
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return FrameType.h265_stream
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else:
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raise NotImplementedError(fn)
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else:
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raise NotImplementedError(fn)
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def ffprobe(fn, fmt=None):
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fn = resolve_name(fn)
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cmd = ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_format", "-show_streams"]
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if fmt:
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cmd += ["-f", fmt]
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cmd += ["-i", "-"]
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try:
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with FileReader(fn) as f:
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ffprobe_output = subprocess.check_output(cmd, input=f.read(4096))
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except subprocess.CalledProcessError as e:
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raise DataUnreadableError(fn) from e
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return json.loads(ffprobe_output)
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def cache_fn(func):
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@wraps(func)
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def cache_inner(fn, *args, **kwargs):
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if kwargs.pop('no_cache', None):
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cache_path = None
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else:
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cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR)
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cache_path = cache_path_for_file_path(fn, cache_dir)
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if cache_path and os.path.exists(cache_path):
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with open(cache_path, "rb") as cache_file:
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cache_value = pickle.load(cache_file)
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else:
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cache_value = func(fn, *args, **kwargs)
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if cache_path:
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with atomic_write_in_dir(cache_path, mode="wb", overwrite=True) as cache_file:
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pickle.dump(cache_value, cache_file, -1)
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return cache_value
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return cache_inner
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@cache_fn
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def index_stream(fn, ft):
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if ft != FrameType.h265_stream:
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raise NotImplementedError("Only h265 supported")
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frame_types, dat_len, prefix = hevc_index(fn)
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index = np.array(frame_types + [(0xFFFFFFFF, dat_len)], dtype=np.uint32)
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probe = ffprobe(fn, "hevc")
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return {
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'index': index,
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'global_prefix': prefix,
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'probe': probe
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}
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def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR):
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return index_stream(fn, frame_type, cache_dir=cache_dir)
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def read_file_check_size(f, sz, cookie):
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buff = bytearray(sz)
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bytes_read = f.readinto(buff)
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assert bytes_read == sz, (bytes_read, sz)
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return buff
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def rgb24toyuv(rgb):
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yuv_from_rgb = np.array([[ 0.299 , 0.587 , 0.114 ],
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[-0.14714119, -0.28886916, 0.43601035 ],
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[ 0.61497538, -0.51496512, -0.10001026 ]])
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img = np.dot(rgb.reshape(-1, 3), yuv_from_rgb.T).reshape(rgb.shape)
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ys = img[:, :, 0]
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us = (img[::2, ::2, 1] + img[1::2, ::2, 1] + img[::2, 1::2, 1] + img[1::2, 1::2, 1]) / 4 + 128
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vs = (img[::2, ::2, 2] + img[1::2, ::2, 2] + img[::2, 1::2, 2] + img[1::2, 1::2, 2]) / 4 + 128
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return ys, us, vs
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def rgb24toyuv420(rgb):
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ys, us, vs = rgb24toyuv(rgb)
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y_len = rgb.shape[0] * rgb.shape[1]
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uv_len = y_len // 4
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yuv420 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype)
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yuv420[:y_len] = ys.reshape(-1)
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yuv420[y_len:y_len + uv_len] = us.reshape(-1)
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yuv420[y_len + uv_len:y_len + 2 * uv_len] = vs.reshape(-1)
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return yuv420.clip(0, 255).astype('uint8')
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def rgb24tonv12(rgb):
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ys, us, vs = rgb24toyuv(rgb)
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y_len = rgb.shape[0] * rgb.shape[1]
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uv_len = y_len // 4
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nv12 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype)
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nv12[:y_len] = ys.reshape(-1)
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nv12[y_len::2] = us.reshape(-1)
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nv12[y_len+1::2] = vs.reshape(-1)
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return nv12.clip(0, 255).astype('uint8')
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def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt):
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threads = os.getenv("FFMPEG_THREADS", "0")
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cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
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args = ["ffmpeg", "-v", "quiet",
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"-threads", threads,
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"-hwaccel", "none" if not cuda else "cuda",
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"-c:v", "hevc",
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"-vsync", "0",
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"-f", vid_fmt,
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"-flags2", "showall",
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"-i", "-",
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"-threads", threads,
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"-f", "rawvideo",
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"-pix_fmt", pix_fmt,
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"-"]
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dat = subprocess.check_output(args, input=rawdat)
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if pix_fmt == "rgb24":
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ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
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elif pix_fmt == "nv12":
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ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2))
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elif pix_fmt == "yuv420p":
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ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2))
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elif pix_fmt == "yuv444p":
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ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, 3, h, w)
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else:
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raise NotImplementedError
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return ret
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class BaseFrameReader:
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# properties: frame_type, frame_count, w, h
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def __enter__(self):
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return self
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def __exit__(self, *args):
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self.close()
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def close(self):
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pass
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def get(self, num, count=1, pix_fmt="yuv420p"):
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raise NotImplementedError
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def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None):
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frame_type = fingerprint_video(fn)
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if frame_type == FrameType.raw:
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return RawFrameReader(fn)
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elif frame_type in (FrameType.h265_stream,):
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if not index_data:
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index_data = get_video_index(fn, frame_type, cache_dir)
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return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind)
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else:
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raise NotImplementedError(frame_type)
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class RawData:
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def __init__(self, f):
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self.f = _io.FileIO(f, 'rb')
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self.lenn = struct.unpack("I", self.f.read(4))[0]
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self.count = os.path.getsize(f) / (self.lenn+4)
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def read(self, i):
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self.f.seek((self.lenn+4)*i + 4)
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return self.f.read(self.lenn)
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class RawFrameReader(BaseFrameReader):
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def __init__(self, fn):
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# raw camera
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self.fn = fn
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self.frame_type = FrameType.raw
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self.rawfile = RawData(self.fn)
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self.frame_count = self.rawfile.count
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self.w, self.h = 640, 480
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def load_and_debayer(self, img):
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img = np.frombuffer(img, dtype='uint8').reshape(960, 1280)
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cimg = np.dstack([img[0::2, 1::2], ((img[0::2, 0::2].astype("uint16") + img[1::2, 1::2].astype("uint16")) >> 1).astype("uint8"), img[1::2, 0::2]])
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return cimg
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def get(self, num, count=1, pix_fmt="yuv420p"):
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assert self.frame_count is not None
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assert num+count <= self.frame_count
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if pix_fmt not in ("nv12", "yuv420p", "rgb24"):
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raise ValueError(f"Unsupported pixel format {pix_fmt!r}")
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app = []
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for i in range(num, num+count):
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dat = self.rawfile.read(i)
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rgb_dat = self.load_and_debayer(dat)
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if pix_fmt == "rgb24":
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app.append(rgb_dat)
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elif pix_fmt == "nv12":
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app.append(rgb24tonv12(rgb_dat))
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elif pix_fmt == "yuv420p":
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app.append(rgb24toyuv420(rgb_dat))
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else:
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raise NotImplementedError
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return app
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class VideoStreamDecompressor:
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def __init__(self, fn, vid_fmt, w, h, pix_fmt):
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self.fn = fn
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self.vid_fmt = vid_fmt
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self.w = w
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self.h = h
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self.pix_fmt = pix_fmt
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if pix_fmt in ("nv12", "yuv420p"):
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self.out_size = w*h*3//2 # yuv420p
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elif pix_fmt in ("rgb24", "yuv444p"):
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self.out_size = w*h*3
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else:
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raise NotImplementedError
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self.proc = None
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self.t = threading.Thread(target=self.write_thread)
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self.t.daemon = True
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def write_thread(self):
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try:
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with FileReader(self.fn) as f:
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while True:
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r = f.read(1024*1024)
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if len(r) == 0:
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break
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self.proc.stdin.write(r)
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except BrokenPipeError:
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pass
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finally:
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self.proc.stdin.close()
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def read(self):
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threads = os.getenv("FFMPEG_THREADS", "0")
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cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
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cmd = [
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"ffmpeg",
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"-threads", threads,
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"-hwaccel", "none" if not cuda else "cuda",
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"-c:v", "hevc",
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# "-avioflags", "direct",
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"-analyzeduration", "0",
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"-probesize", "32",
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"-flush_packets", "0",
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# "-fflags", "nobuffer",
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"-vsync", "0",
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"-f", self.vid_fmt,
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"-i", "pipe:0",
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"-threads", threads,
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"-f", "rawvideo",
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"-pix_fmt", self.pix_fmt,
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"pipe:1"
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]
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self.proc = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL)
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try:
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self.t.start()
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while True:
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dat = self.proc.stdout.read(self.out_size)
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if len(dat) == 0:
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break
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assert len(dat) == self.out_size
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if self.pix_fmt == "rgb24":
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ret = np.frombuffer(dat, dtype=np.uint8).reshape((self.h, self.w, 3))
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elif self.pix_fmt == "yuv420p":
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ret = np.frombuffer(dat, dtype=np.uint8)
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elif self.pix_fmt == "nv12":
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ret = np.frombuffer(dat, dtype=np.uint8)
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elif self.pix_fmt == "yuv444p":
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ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w))
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else:
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raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}")
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yield ret
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result_code = self.proc.wait()
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assert result_code == 0, result_code
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finally:
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self.proc.kill()
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self.t.join()
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class StreamGOPReader(GOPReader):
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def __init__(self, fn, frame_type, index_data):
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assert frame_type == FrameType.h265_stream
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self.fn = fn
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self.frame_type = frame_type
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self.frame_count = None
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self.w, self.h = None, None
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self.prefix = None
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self.index = None
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self.index = index_data['index']
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self.prefix = index_data['global_prefix']
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probe = index_data['probe']
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self.prefix_frame_data = None
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self.num_prefix_frames = 0
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self.vid_fmt = "hevc"
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i = 0
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while i < self.index.shape[0] and self.index[i, 0] != HEVC_SLICE_I:
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i += 1
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self.first_iframe = i
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assert self.first_iframe == 0
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self.frame_count = len(self.index) - 1
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self.w = probe['streams'][0]['width']
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self.h = probe['streams'][0]['height']
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def _lookup_gop(self, num):
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frame_b = num
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while frame_b > 0 and self.index[frame_b, 0] != HEVC_SLICE_I:
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frame_b -= 1
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frame_e = num + 1
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while frame_e < (len(self.index) - 1) and self.index[frame_e, 0] != HEVC_SLICE_I:
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frame_e += 1
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offset_b = self.index[frame_b, 1]
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offset_e = self.index[frame_e, 1]
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return (frame_b, frame_e, offset_b, offset_e)
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def get_gop(self, num):
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frame_b, frame_e, offset_b, offset_e = self._lookup_gop(num)
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assert frame_b <= num < frame_e
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num_frames = frame_e - frame_b
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with FileReader(self.fn) as f:
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f.seek(offset_b)
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rawdat = f.read(offset_e - offset_b)
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if num < self.first_iframe:
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assert self.prefix_frame_data
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rawdat = self.prefix_frame_data + rawdat
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rawdat = self.prefix + rawdat
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skip_frames = 0
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if num < self.first_iframe:
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skip_frames = self.num_prefix_frames
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return frame_b, num_frames, skip_frames, rawdat
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class GOPFrameReader(BaseFrameReader):
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#FrameReader with caching and readahead for formats that are group-of-picture based
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def __init__(self, readahead=False, readbehind=False):
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self.open_ = True
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self.readahead = readahead
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self.readbehind = readbehind
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self.frame_cache = LRU(64)
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if self.readahead:
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self.cache_lock = threading.RLock()
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self.readahead_last = None
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self.readahead_len = 30
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self.readahead_c = threading.Condition()
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self.readahead_thread = threading.Thread(target=self._readahead_thread)
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self.readahead_thread.daemon = True
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self.readahead_thread.start()
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else:
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self.cache_lock = DoNothingContextManager()
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def close(self):
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if not self.open_:
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return
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self.open_ = False
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if self.readahead:
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self.readahead_c.acquire()
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self.readahead_c.notify()
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self.readahead_c.release()
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self.readahead_thread.join()
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def _readahead_thread(self):
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while True:
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self.readahead_c.acquire()
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try:
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if not self.open_:
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break
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self.readahead_c.wait()
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finally:
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self.readahead_c.release()
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if not self.open_:
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break
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assert self.readahead_last
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num, pix_fmt = self.readahead_last
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if self.readbehind:
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for k in range(num - 1, max(0, num - self.readahead_len), -1):
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self._get_one(k, pix_fmt)
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else:
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for k in range(num, min(self.frame_count, num + self.readahead_len)):
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self._get_one(k, pix_fmt)
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def _get_one(self, num, pix_fmt):
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assert num < self.frame_count
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if (num, pix_fmt) in self.frame_cache:
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return self.frame_cache[(num, pix_fmt)]
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with self.cache_lock:
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if (num, pix_fmt) in self.frame_cache:
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return self.frame_cache[(num, pix_fmt)]
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frame_b, num_frames, skip_frames, rawdat = self.get_gop(num)
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ret = decompress_video_data(rawdat, self.vid_fmt, self.w, self.h, pix_fmt)
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ret = ret[skip_frames:]
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assert ret.shape[0] == num_frames
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for i in range(ret.shape[0]):
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self.frame_cache[(frame_b+i, pix_fmt)] = ret[i]
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return self.frame_cache[(num, pix_fmt)]
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def get(self, num, count=1, pix_fmt="yuv420p"):
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assert self.frame_count is not None
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if num + count > self.frame_count:
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raise ValueError(f"{num + count} > {self.frame_count}")
|
|
|
|
if pix_fmt not in ("nv12", "yuv420p", "rgb24", "yuv444p"):
|
|
raise ValueError(f"Unsupported pixel format {pix_fmt!r}")
|
|
|
|
ret = [self._get_one(num + i, pix_fmt) for i in range(count)]
|
|
|
|
if self.readahead:
|
|
self.readahead_last = (num+count, pix_fmt)
|
|
self.readahead_c.acquire()
|
|
self.readahead_c.notify()
|
|
self.readahead_c.release()
|
|
|
|
return ret
|
|
|
|
|
|
class StreamFrameReader(StreamGOPReader, GOPFrameReader):
|
|
def __init__(self, fn, frame_type, index_data, readahead=False, readbehind=False):
|
|
StreamGOPReader.__init__(self, fn, frame_type, index_data)
|
|
GOPFrameReader.__init__(self, readahead, readbehind)
|
|
|
|
|
|
def GOPFrameIterator(gop_reader, pix_fmt):
|
|
dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt)
|
|
yield from dec.read()
|
|
|
|
|
|
def FrameIterator(fn, pix_fmt, **kwargs):
|
|
fr = FrameReader(fn, **kwargs)
|
|
if isinstance(fr, GOPReader):
|
|
yield from GOPFrameIterator(fr, pix_fmt)
|
|
else:
|
|
for i in range(fr.frame_count):
|
|
yield fr.get(i, pix_fmt=pix_fmt)[0]
|
|
|
|
|
|
class NumpyFrameReader:
|
|
def __init__(self, name, w, h, cache_size):
|
|
self.name = name
|
|
self.pos = -1
|
|
self.frames = None
|
|
self.w = w
|
|
self.h = h
|
|
self.cache_size = cache_size
|
|
|
|
def close(self):
|
|
pass
|
|
|
|
def get(self, num, count=1, pix_fmt="nv12"):
|
|
num -= 1
|
|
q = num // self.cache_size
|
|
if q != self.pos:
|
|
del self.frames
|
|
self.pos = q
|
|
self.frames = np.load(f'{self.name}_{self.pos}.npy')
|
|
return [self.frames[num % self.cache_size]]
|
|
|