7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
40 lines
1.1 KiB
Python
40 lines
1.1 KiB
Python
import av
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import cv2 as cv
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class Camera:
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def __init__(self, cam_type_state, stream_type, camera_id):
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try:
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camera_id = int(camera_id)
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except ValueError: # allow strings, ex: /dev/video0
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pass
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self.cam_type_state = cam_type_state
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self.stream_type = stream_type
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self.cur_frame_id = 0
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print(f"Opening {cam_type_state} at {camera_id}")
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self.cap = cv.VideoCapture(camera_id)
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self.cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280.0)
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self.cap.set(cv.CAP_PROP_FRAME_HEIGHT, 720.0)
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self.cap.set(cv.CAP_PROP_FPS, 25.0)
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self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
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self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
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@classmethod
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def bgr2nv12(self, bgr):
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frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
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return frame.reformat(format='nv12').to_ndarray()
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def read_frames(self):
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while True:
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ret, frame = self.cap.read()
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if not ret:
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break
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# Rotate the frame 180 degrees (flip both axes)
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frame = cv.flip(frame, -1)
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yuv = Camera.bgr2nv12(frame)
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yield yuv.data.tobytes()
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self.cap.release()
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