def _push_sample(self, sample):
# Calculate whether we need to draw any annotations on the output video.
now = sample.time
annotations = []
with self.annotations_lock:
# Remove expired annotations
self.text_annotations = [
x for x in self.text_annotations if now < x.end_time
]
current_texts = [x for x in self.text_annotations if x.time <= now]
for annotation in list(self.annotations):
if annotation.time == now:
annotations.append(annotation)
if now >= annotation.time:
self.annotations.remove(annotation)
sample = gst_sample_make_writable(sample)
img = array_from_sample(sample, readwrite=True)
# Text:
_draw_text(img,
datetime.datetime.now().strftime("%H:%M:%S.%f")[:-4],
(10, 30), (255, 255, 255))
for i, x in enumerate(reversed(current_texts)):
origin = (10, (i + 2) * 30)
age = float(now - x.time) / 3
color = (int(255 * max([1 - age, 0.5])), ) * 3
_draw_text(img, x.text, origin, color)
# Regions:
for annotation in annotations:
annotation.draw(img)
self.appsrc.props.caps = sample.get_caps()
self.appsrc.emit("push-buffer", sample.get_buffer())
self._sample_count += 1
def _push_sample(self, sample):
# Calculate whether we need to draw any annotations on the output video.
now = sample.time
annotations = []
with self.annotations_lock:
# Remove expired annotations
self.text_annotations = [x for x in self.text_annotations
if now < x.end_time]
current_texts = [x for x in self.text_annotations if x.time <= now]
for annotation in list(self.annotations):
if annotation.time == now:
annotations.append(annotation)
if now >= annotation.time:
self.annotations.remove(annotation)
sample = gst_sample_make_writable(sample)
img = array_from_sample(sample, readwrite=True)
# Text:
_draw_text(
img, datetime.datetime.now().strftime("%H:%M:%S.%f")[:-4],
(10, 30), (255, 255, 255))
for i, x in enumerate(reversed(current_texts)):
origin = (10, (i + 2) * 30)
age = float(now - x.time) / 3
color = (int(255 * max([1 - age, 0.5])),) * 3
_draw_text(img, x.text, origin, color)
# Regions:
for annotation in annotations:
annotation.draw(img)
self.appsrc.props.caps = sample.get_caps()
self.appsrc.emit("push-buffer", sample.get_buffer())
self._sample_count += 1
def svg_to_array(svg):
from _stbt.gst_utils import array_from_sample
pipeline = Gst.parse_launch(
'appsrc name="src" caps="image/svg" ! rsvgdec ! '
'videoconvert ! appsink caps="video/x-raw,format=BGR" name="sink"')
src = pipeline.get_by_name('src')
sink = pipeline.get_by_name('sink')
pipeline.set_state(Gst.State.PLAYING)
buf = Gst.Buffer.new_wrapped(svg)
src.emit('push-buffer', buf)
sample = sink.emit('pull-sample')
src.emit("end-of-stream")
pipeline.set_state(Gst.State.NULL)
pipeline.get_state(0)
return array_from_sample(sample)
def _push_sample(self, sample):
# Calculate whether we need to draw any annotations on the output video.
now = sample.time
annotations = []
with self.annotations_lock:
# Remove expired annotations
self.text_annotations = [x for x in self.text_annotations
if now < x.end_time]
current_texts = [x for x in self.text_annotations if x.time <= now]
for annotation in list(self.annotations):
if annotation.time == now:
annotations.append(annotation)
if now >= annotation.time:
self.annotations.remove(annotation)
sample = gst_sample_make_writable(sample)
img = array_from_sample(sample, readwrite=True)
# Text:
_draw_text(
img,
datetime.datetime.fromtimestamp(now).strftime("%H:%M:%S.%f")[:-4],
(10, 30), (255, 255, 255))
for i, x in enumerate(reversed(current_texts)):
origin = (10, (i + 2) * 30)
age = float(now - x.time) / 3
color = (native(int(255 * max([1 - age, 0.5]))).__int__(),) * 3
_draw_text(img, x.text, origin, color)
# Regions:
for annotation in annotations:
_draw_annotation(img, annotation)
APPSRC_LIMIT_BYTES = 100 * 1024 * 1024 # 100MB
if self.appsrc.props.current_level_bytes > APPSRC_LIMIT_BYTES:
# appsrc is backed-up, perhaps something's gone wrong. We don't
# want to use up all RAM, so let's drop the buffer on the floor.
if not self._appsrc_was_full:
warn("sink pipeline appsrc is full, dropping buffers from now "
"on")
self._appsrc_was_full = True
return
elif self._appsrc_was_full:
debug("sink pipeline appsrc no longer full, pushing buffers again")
self._appsrc_was_full = False
self.appsrc.props.caps = sample.get_caps()
self.appsrc.emit("push-buffer", sample.get_buffer())
self._sample_count += 1
def svg_to_array(svg):
from _stbt.gst_utils import array_from_sample
pipeline = Gst.parse_launch(
'appsrc name="src" caps="image/svg" ! rsvgdec ! '
'videoconvert ! appsink caps="video/x-raw,format=BGR" name="sink"'
)
src = pipeline.get_by_name("src")
sink = pipeline.get_by_name("sink")
pipeline.set_state(Gst.State.PLAYING)
buf = Gst.Buffer.new_wrapped(svg)
src.emit("push-buffer", buf)
sample = sink.emit("pull-sample")
src.emit("end-of-stream")
pipeline.set_state(Gst.State.NULL)
pipeline.get_state(0)
return array_from_sample(sample)
def on_new_sample(self, appsink):
sample = appsink.emit("pull-sample")
running_time = sample.get_segment().to_running_time(
Gst.Format.TIME, sample.get_buffer().pts)
sample.time = float(appsink.base_time + running_time) / 1e9
if (sample.time > self.init_time + 31536000 or
sample.time < self.init_time - 31536000): # 1 year
warn("Received frame with suspicious timestamp: %f. Check your "
"source-pipeline configuration." % sample.time)
frame = array_from_sample(sample)
frame.flags.writeable = False
# See also: logging.draw_on
frame._draw_sink = weakref.ref(self._sink_pipeline) # pylint: disable=protected-access
self.tell_user_thread(frame)
self._sink_pipeline.on_sample(sample)
return Gst.FlowReturn.OK
def chessboard_calibration(dut, timeout=10):
from _stbt.gst_utils import array_from_sample
undistorted_appsink = \
dut._display.source_pipeline.get_by_name('undistorted_appsink')
sys.stderr.write("Searching for chessboard\n")
endtime = time.time() + timeout
while time.time() < endtime:
sample = undistorted_appsink.emit('pull-sample')
try:
input_image = array_from_sample(sample)
params = chessboard.calculate_calibration_params(input_image)
break
except chessboard.NoChessboardError:
if time.time() > endtime:
raise
geometriccorrection = dut._display.source_pipeline.get_by_name(
'geometric_correction')
geometriccorrection_params = {
'camera-matrix': ('{fx} 0 {cx}'
' 0 {fy} {cy}'
' 0 0 1').format(**params),
'distortion-coefficients': '{k1} {k2} {p1} {p2} {k3}'.format(**params),
'inv-homography-matrix': (
'{ihm11} {ihm21} {ihm31} '
'{ihm12} {ihm22} {ihm32} '
'{ihm13} {ihm23} {ihm33}').format(**params),
}
for key, value in geometriccorrection_params.items():
geometriccorrection.set_property(key, value)
print_error_map(
sys.stderr,
*chessboard.find_corrected_corners(params, input_image))
set_config(
'global', 'geometriccorrection_params',
' '.join('%s="%s"' % v for v in geometriccorrection_params.items()))
def chessboard_calibration(timeout=10):
from _stbt.gst_utils import array_from_sample
undistorted_appsink = \
stbt._dut._display.source_pipeline.get_by_name('undistorted_appsink')
sys.stderr.write("Searching for chessboard\n")
endtime = time.time() + timeout
while time.time() < endtime:
sample = undistorted_appsink.emit('pull-sample')
try:
input_image = array_from_sample(sample)
params = chessboard.calculate_calibration_params(input_image)
break
except chessboard.NoChessboardError:
if time.time() > endtime:
raise
geometriccorrection = stbt._dut._display.source_pipeline.get_by_name(
'geometric_correction')
geometriccorrection_params = {
'camera-matrix': ('{fx} 0 {cx}'
' 0 {fy} {cy}'
' 0 0 1').format(**params),
'distortion-coefficients': '{k1} {k2} {p1} {p2} {k3}'.format(**params),
'inv-homography-matrix': (
'{ihm11} {ihm21} {ihm31} '
'{ihm12} {ihm22} {ihm32} '
'{ihm13} {ihm23} {ihm33}').format(**params),
}
for key, value in geometriccorrection_params.items():
geometriccorrection.set_property(key, value)
print_error_map(
sys.stderr,
*chessboard.find_corrected_corners(params, input_image))
set_config(
'global', 'geometriccorrection_params',
' '.join('%s="%s"' % v for v in geometriccorrection_params.items()))
def on_new_sample(self, appsink):
sample = appsink.emit("pull-sample")
running_time = sample.get_segment().to_running_time(
Gst.Format.TIME, sample.get_buffer().pts)
sample.time = (
float(appsink.base_time + running_time) / 1e9)
if (sample.time > self.init_time + 31536000 or
sample.time < self.init_time - 31536000): # 1 year
warn("Received frame with suspicious timestamp: %f. Check your "
"source-pipeline configuration." % sample.time)
frame = array_from_sample(sample)
frame.flags.writeable = False
# See also: logging.draw_on
frame._draw_sink = weakref.ref(self._sink_pipeline) # pylint: disable=protected-access
self.tell_user_thread(frame)
self._sink_pipeline.on_sample(sample)
return Gst.FlowReturn.OK
