mirror of https://github.com/commaai/openpilot.git
29 lines
901 B
Python
29 lines
901 B
Python
import av
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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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self.container = av.open(camera_id)
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self.video_stream = self.container.streams.video[0]
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self.W = self.video_stream.codec_context.width
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self.H = self.video_stream.codec_context.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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for frame in self.container.decode(self.video_stream):
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img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24
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yuv = Camera.bgr2nv12(img)
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yield yuv.data.tobytes()
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self.container.close()
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