You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
120 lines
4.6 KiB
120 lines
4.6 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import sys
|
|
import numpy as np
|
|
import multiprocessing
|
|
|
|
from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType # pylint: disable=no-name-in-module, import-error
|
|
W, H = 1928, 1208
|
|
|
|
V4L2_BUF_FLAG_KEYFRAME = 8
|
|
|
|
def writer(fn, addr, sock_name):
|
|
import cereal.messaging as messaging
|
|
fifo_file = open(fn, "wb")
|
|
|
|
os.environ["ZMQ"] = "1"
|
|
messaging.context = messaging.Context()
|
|
|
|
sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False)
|
|
last_idx = -1
|
|
seen_iframe = False
|
|
while 1:
|
|
msgs = messaging.drain_sock(sock, wait_for_one=True)
|
|
for evt in msgs:
|
|
evta = getattr(evt, evt.which())
|
|
lat = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
|
|
print("%2d %4d %.3f %.3f latency %.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, lat), len(evta.data), sock_name)
|
|
if evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
|
|
print("DROP!")
|
|
last_idx = evta.idx.encodeId
|
|
if evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME:
|
|
fifo_file.write(evta.header)
|
|
seen_iframe = True
|
|
if not seen_iframe:
|
|
print("waiting for iframe")
|
|
continue
|
|
fifo_file.write(evta.data)
|
|
|
|
FFMPEG_OPTIONS = {"probesize": "32", "flags": "low_delay"}
|
|
|
|
def decoder_nvidia(fn, vipc_server, vst, yuv=True, rgb=False):
|
|
sys.path.append("/raid.dell2/PyNvCodec")
|
|
import PyNvCodec as nvc # pylint: disable=import-error
|
|
decoder = nvc.PyNvDecoder(fn, 0, FFMPEG_OPTIONS)
|
|
cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG)
|
|
|
|
if rgb:
|
|
conv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.BGR, 0)
|
|
nvDwn = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.BGR, 0)
|
|
img = np.ndarray((H,W,3), dtype=np.uint8)
|
|
|
|
if yuv:
|
|
conv_yuv = nvc.PySurfaceConverter(W, H, nvc.PixelFormat.NV12, nvc.PixelFormat.YUV420, 0)
|
|
nvDwn_yuv = nvc.PySurfaceDownloader(W, H, nvc.PixelFormat.YUV420, 0)
|
|
img_yuv = np.ndarray((H*W//2*3), dtype=np.uint8)
|
|
|
|
cnt = 0
|
|
while 1:
|
|
rawSurface = decoder.DecodeSingleSurface()
|
|
if rawSurface.Empty():
|
|
continue
|
|
if rgb:
|
|
convSurface = conv.Execute(rawSurface, cc1)
|
|
nvDwn.DownloadSingleSurface(convSurface, img)
|
|
vipc_server.send(vst, img.flatten().data, cnt, 0, 0)
|
|
if yuv:
|
|
convSurface = conv_yuv.Execute(rawSurface, cc1)
|
|
nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
|
|
vipc_server.send(vst+3, img_yuv.flatten().data, cnt, 0, 0)
|
|
cnt += 1
|
|
|
|
def decoder_ffmpeg(fn, vipc_server, vst, yuv=True, rgb=False):
|
|
import av # pylint: disable=import-error
|
|
container = av.open(fn, options=FFMPEG_OPTIONS)
|
|
cnt = 0
|
|
for frame in container.decode(video=0):
|
|
if rgb:
|
|
img = frame.to_ndarray(format=av.video.format.VideoFormat('bgr24'))
|
|
vipc_server.send(vst, img.flatten().data, cnt, 0, 0)
|
|
if yuv:
|
|
img_yuv = frame.to_ndarray(format=av.video.format.VideoFormat('yuv420p'))
|
|
vipc_server.send(vst+3, img_yuv.flatten().data, cnt, 0, 0)
|
|
cnt += 1
|
|
|
|
import argparse
|
|
if __name__ == "__main__":
|
|
parser = argparse.ArgumentParser(description='Decode video streams and broacast on VisionIPC')
|
|
parser.add_argument("addr", help="Address of comma 3")
|
|
parser.add_argument('--pipes', action='store_true', help='Only create pipes')
|
|
parser.add_argument('--nvidia', action='store_true', help='Use nvidia instead of ffmpeg')
|
|
parser.add_argument('--rgb', action='store_true', help='Also broadcast RGB')
|
|
parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
|
|
args = parser.parse_args()
|
|
|
|
all_cams = [
|
|
("roadEncodeData", VisionStreamType.VISION_STREAM_RGB_ROAD),
|
|
("wideRoadEncodeData", VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD),
|
|
("driverEncodeData", VisionStreamType.VISION_STREAM_RGB_DRIVER),
|
|
]
|
|
cams = dict([all_cams[int(x)] for x in args.cams.split(",")])
|
|
|
|
vipc_server = VisionIpcServer("camerad")
|
|
for vst in cams.values():
|
|
if args.rgb:
|
|
vipc_server.create_buffers(vst, 4, True, W, H)
|
|
vipc_server.create_buffers(vst+3, 4, False, W, H)
|
|
vipc_server.start_listener()
|
|
|
|
for k,v in cams.items():
|
|
FIFO_NAME = "/tmp/decodepipe_"+k
|
|
if os.path.exists(FIFO_NAME):
|
|
os.unlink(FIFO_NAME)
|
|
os.mkfifo(FIFO_NAME)
|
|
multiprocessing.Process(target=writer, args=(FIFO_NAME, sys.argv[1], k)).start()
|
|
if args.pipes:
|
|
print("connect to", FIFO_NAME)
|
|
elif args.nvidia:
|
|
multiprocessing.Process(target=decoder_nvidia, args=(FIFO_NAME, vipc_server, v, True, args.rgb)).start()
|
|
else:
|
|
multiprocessing.Process(target=decoder_ffmpeg, args=(FIFO_NAME, vipc_server, v, True, args.rgb)).start()
|
|
|