openpilot_comma/tools/lib/framereader.py

import os
import subprocess
import json
from collections.abc import Iterator

import numpy as np
from lru import LRU

from openpilot.tools.lib.filereader import FileReader, resolve_name
from openpilot.tools.lib.exceptions import DataUnreadableError
from openpilot.tools.lib.vidindex import hevc_index


HEVC_SLICE_B = 0
HEVC_SLICE_P = 1
HEVC_SLICE_I = 2


def assert_hvec(fn: str) -> None:
  with FileReader(fn) as f:
    header = f.read(4)
  if len(header) == 0:
    raise DataUnreadableError(f"{fn} is empty")
  elif header == b"\x00\x00\x00\x01":
    if 'hevc' not in fn:
      raise NotImplementedError(fn)

def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.ndarray:
  threads = os.getenv("FFMPEG_THREADS", "0")
  args = ["ffmpeg", "-v", "quiet",
          "-threads", threads,
          "-c:v", "hevc",
          "-vsync", "0",
          "-f", vid_fmt,
          "-flags2", "showall",
          "-i", "-",
          "-f", "rawvideo",
          "-pix_fmt", pix_fmt,
          "-"]
  dat = subprocess.check_output(args, input=rawdat)

  if pix_fmt == "rgb24":
    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
  elif pix_fmt in ["nv12", "yuv420p"]:
    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2))
  else:
    raise NotImplementedError(f"Unsupported pixel format: {pix_fmt}")
  return ret

def ffprobe(fn, fmt=None):
  fn = resolve_name(fn)
  cmd = ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_format", "-show_streams"]
  if fmt:
    cmd += ["-f", fmt]
  cmd += ["-i", "-"]

  try:
    with FileReader(fn) as f:
      ffprobe_output = subprocess.check_output(cmd, input=f.read(4096))
  except subprocess.CalledProcessError as e:
    raise DataUnreadableError(fn) from e
  return json.loads(ffprobe_output)

def get_index_data(fn: str, index_data: dict|None = None):
  if index_data is None:
    index_data = get_video_index(fn)
    if index_data is None:
      raise DataUnreadableError(f"Failed to index {fn!r}")
  stream = index_data["probe"]["streams"][0]
  return index_data["index"], index_data["global_prefix"], stream["width"], stream["height"]

def get_video_index(fn):
  assert_hvec(fn)
  frame_types, dat_len, prefix = hevc_index(fn)
  index = np.array(frame_types + [(0xFFFFFFFF, dat_len)], dtype=np.uint32)
  probe = ffprobe(fn, "hevc")
  return {
    'index': index,
    'global_prefix': prefix,
    'probe': probe
  }


class FfmpegDecoder:
  def __init__(self, fn: str, index_data: dict|None = None,
               pix_fmt: str = "rgb24"):
    self.fn = fn
    self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data)
    self.frame_count = len(self.index) - 1          # sentinel row at the end
    self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0]
    self.pix_fmt = pix_fmt

  def _gop_bounds(self, frame_idx: int):
    f_b = frame_idx
    while f_b > 0 and self.index[f_b, 0] != HEVC_SLICE_I:
      f_b -= 1
    f_e = frame_idx + 1
    while f_e < self.frame_count and self.index[f_e, 0] != HEVC_SLICE_I:
      f_e += 1
    return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1]

  def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]:
    yield from decompress_video_data(raw, self.w, self.h, self.pix_fmt)

  def get_gop_start(self, frame_idx: int):
    return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1]

  def get_iterator(self, start_fidx: int = 0, end_fidx: int|None = None,
                   frame_skip: int = 1) -> Iterator[tuple[int, np.ndarray]]:
    end_fidx = end_fidx or self.frame_count
    fidx = start_fidx
    while fidx < end_fidx:
      f_b, f_e, off_b, off_e = self._gop_bounds(fidx)
      with FileReader(self.fn) as f:
        f.seek(off_b)
        raw = self.prefix + f.read(off_e - off_b)
      # number of frames to discard inside this GOP before the wanted one
      for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt)):
        fidx = f_b + i
        if fidx >= end_fidx:
          return
        elif fidx >= start_fidx and (fidx - start_fidx) % frame_skip == 0:
          yield fidx, frm
      fidx += 1

def FrameIterator(fn: str, index_data: dict|None=None,
                        pix_fmt: str = "rgb24",
                        start_fidx:int=0, end_fidx=None, frame_skip:int=1) -> Iterator[np.ndarray]:
  dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data)
  for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip):
    yield frame

class FrameReader:
  def __init__(self, fn: str, index_data: dict|None = None,
               cache_size: int = 30, pix_fmt: str = "rgb24"):
    self.decoder = FfmpegDecoder(fn, index_data, pix_fmt)
    self.iframes = self.decoder.iframes
    self._cache: LRU[int, np.ndarray] = LRU(cache_size)
    self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count
    self.pix_fmt = pix_fmt

    self.it: Iterator[tuple[int, np.ndarray]] | None = None
    self.fidx = -1

  def get(self, fidx:int) -> list[np.ndarray]:
    if fidx in self._cache:  # If frame is cached, return it
      return [self._cache[fidx]]
    read_start = self.decoder.get_gop_start(fidx)
    if not self.it or fidx < self.fidx or read_start != self.decoder.get_gop_start(self.fidx):  # If the frame is in a different GOP, reset the iterator
      self.it = self.decoder.get_iterator(read_start)
      self.fidx = -1
    while self.fidx < fidx:
      self.fidx, frame = next(self.it)
      self._cache[self.fidx] = frame
    return [self._cache[fidx]]  # TODO: return just frame