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remove cv2 usage (#33101) 

remove cv2
This commit is contained in:
Maxime Desroches 2024-07-28 15:08:27 -07:00 committed by GitHub
parent c51f37f63e
commit 583e89d3a4
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2 changed files with 12 additions and 19 deletions
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3
selfdrive/ui/tests/test_ui/run.py
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@ -19,7 +19,6 @@ from openpilot.common.realtime import DT_MDL
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
from openpilot.tools.webcam.camera import Camera
UI_DELAY = 0.5 # may be slower on CI?
@ -76,7 +75,7 @@ def setup_onroad(click, pm: PubMaster):
time.sleep(0.5) # give time for vipc server to start
IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8)
IMG_BYTES = IMG.flatten().tobytes()
cams = ('roadCameraState', 'wideRoadCameraState')

28
tools/webcam/camera.py
View File

@ -1,6 +1,4 @@
# TODO: remove the cv2 dependency, it's only used here
import cv2 as cv
import numpy as np
import av
class Camera:
def __init__(self, cam_type_state, stream_type, camera_id):
@ -12,23 +10,19 @@ class Camera:
self.stream_type = stream_type
self.cur_frame_id = 0
self.cap = cv.VideoCapture(camera_id)
self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
self.container = av.open(camera_id)
self.video_stream = self.container.streams.video[0]
self.W = self.video_stream.codec_context.width
self.H = self.video_stream.codec_context.height
@classmethod
def bgr2nv12(self, bgr):
yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420)
uv_row_cnt = yuv.shape[0] // 3
uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0])
yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1)
return yuv
frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
return frame.reformat(format='nv12').to_ndarray()
def read_frames(self):
while True:
sts , frame = self.cap.read()
if not sts:
break
yuv = Camera.bgr2nv12(frame)
for frame in self.container.decode(self.video_stream):
img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24
yuv = Camera.bgr2nv12(img)
yield yuv.data.tobytes()
self.cap.release()
self.container.close()