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108 lines
4.3 KiB
108 lines
4.3 KiB
#!/usr/bin/env python3
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import av
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import os
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import sys
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import argparse
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import numpy as np
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import multiprocessing
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import time
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import cereal.messaging as messaging
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from cereal.visionipc import VisionIpcServer, VisionStreamType
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W, H = 1928, 1208
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V4L2_BUF_FLAG_KEYFRAME = 8
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def decoder(addr, sock_name, vipc_server, vst, nvidia):
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print("start decoder for %s" % sock_name)
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if nvidia:
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os.environ["NV_LOW_LATENCY"] = "3" # both bLowLatency and CUVID_PKT_ENDOFPICTURE
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sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
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import PyNvCodec as nvc # pylint: disable=import-error
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nvDec = nvc.PyNvDecoder(W, H, nvc.PixelFormat.NV12, nvc.CudaVideoCodec.HEVC, 0)
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cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG)
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conv_yuv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.YUV420, 0)
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nvDwn_yuv = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.YUV420, 0)
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img_yuv = np.ndarray((H*W//2*3), dtype=np.uint8)
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else:
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codec = av.CodecContext.create("hevc", "r")
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os.environ["ZMQ"] = "1"
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messaging.context = messaging.Context()
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sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False)
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cnt = 0
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last_idx = -1
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seen_iframe = False
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time_q = []
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while 1:
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msgs = messaging.drain_sock(sock, wait_for_one=True)
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for evt in msgs:
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evta = getattr(evt, evt.which())
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if evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
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print("DROP PACKET!")
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last_idx = evta.idx.encodeId
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if not seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME):
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print("waiting for iframe")
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continue
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time_q.append(time.monotonic())
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network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6
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frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000
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process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
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# put in header (first)
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if not seen_iframe:
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if nvidia:
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nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.header, dtype=np.uint8))
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else:
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codec.decode(av.packet.Packet(evta.header))
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seen_iframe = True
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if nvidia:
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rawSurface = nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.data, dtype=np.uint8))
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if rawSurface.Empty():
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print("DROP SURFACE")
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continue
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convSurface = conv_yuv.Execute(rawSurface, cc1)
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nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
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else:
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frames = codec.decode(av.packet.Packet(evta.data))
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if len(frames) == 0:
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print("DROP SURFACE")
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continue
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assert len(frames) == 1
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img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
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uv_offset = H*W
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y = img_yuv[:uv_offset]
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uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F')
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img_yuv = np.hstack((y, uv))
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vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9))
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cnt += 1
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pc_latency = (time.monotonic()-time_q[0])*1000
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time_q = time_q[1:]
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print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Decode video streams and broacast on VisionIPC")
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parser.add_argument("addr", help="Address of comma three")
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parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
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parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
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args = parser.parse_args()
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all_cams = [
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("roadEncodeData", VisionStreamType.VISION_STREAM_ROAD),
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("wideRoadEncodeData", VisionStreamType.VISION_STREAM_WIDE_ROAD),
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("driverEncodeData", VisionStreamType.VISION_STREAM_DRIVER),
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]
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cams = dict([all_cams[int(x)] for x in args.cams.split(",")])
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vipc_server = VisionIpcServer("camerad")
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for vst in cams.values():
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vipc_server.create_buffers(vst, 4, False, W, H)
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vipc_server.start_listener()
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for k,v in cams.items():
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multiprocessing.Process(target=decoder, args=(args.addr, k, vipc_server, v, args.nvidia)).start()
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