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93 lines
2.7 KiB
93 lines
2.7 KiB
import tqdm
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import subprocess
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import multiprocessing
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from enum import StrEnum
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from functools import partial
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from collections import namedtuple
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from openpilot.tools.lib.framereader import ffprobe
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CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"])
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class CameraType(StrEnum):
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qcam = "qcamera"
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fcam = "fcamera"
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ecam = "ecamera"
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dcam = "dcamera"
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def probe_packet_info(camera_path):
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args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path]
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dat = subprocess.check_output(args)
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dat = dat.decode().split()
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return dat
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class _FrameReader:
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def __init__(self, camera_path, segment, h, w, start_time):
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self.camera_path = camera_path
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self.segment = segment
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self.h = h
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self.w = w
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self.start_time = start_time
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self.ts = self._get_ts()
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def _read_stream_nv12(self):
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frame_sz = self.w * self.h * 3 // 2
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proc = subprocess.Popen(
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["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
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stdin=subprocess.PIPE,
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stdout=subprocess.PIPE,
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stderr=subprocess.DEVNULL
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)
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try:
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while True:
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dat = proc.stdout.read(frame_sz)
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if len(dat) == 0:
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break
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yield dat
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finally:
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proc.kill()
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def _get_ts(self):
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dat = probe_packet_info(self.camera_path)
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try:
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ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")]
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except ValueError:
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# pts_times aren't available. Infer timestamps from duration_times
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ret = [d for d in dat if d.startswith("duration_time")]
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ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)]
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return ret
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def __iter__(self):
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for i, frame in enumerate(self._read_stream_nv12()):
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yield self.ts[i], frame
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class CameraReader:
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def __init__(self, camera_paths, start_time, seg_idxs):
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self.seg_idxs = seg_idxs
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self.camera_paths = camera_paths
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self.start_time = start_time
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probe = ffprobe(camera_paths[0])["streams"][0]
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self.h = probe["height"]
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self.w = probe["width"]
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self.__frs = {}
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def _get_fr(self, i):
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if i not in self.__frs:
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self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time)
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return self.__frs[i]
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def _run_on_segment(self, func, i):
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return func(self._get_fr(i))
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def run_across_segments(self, num_processes, func, desc=None):
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with multiprocessing.Pool(num_processes) as pool:
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num_segs = len(self.seg_idxs)
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for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc):
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continue
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