def do_gst_push_src_fill(self, buffer: Gst.Buffer) -> Gst.FlowReturn:
try:
(
image_array,
image_frame_id,
image_timestamp_ns,
) = self.image_acquirer.get_next_image(logger=Gst.warning)
with map_gst_buffer(buffer, Gst.MapFlags.READ) as mapped:
mapped_array = np.ndarray(image_array.shape,
buffer=mapped,
dtype=image_array.dtype)
mapped_array[:] = image_array
if self.timestamp_offset == 0:
self.timestamp_offset = image_timestamp_ns
self.previous_timestamp = image_timestamp_ns
buffer.pts = image_timestamp_ns - self.timestamp_offset
buffer.offset = image_frame_id
buffer.offset_end = image_frame_id + 1
buffer.duration = image_timestamp_ns - self.previous_timestamp
self.previous_timestamp = image_timestamp_ns
Gst.log(
f"Sending buffer of size: {image_array.nbytes} bytes, "
f"type: {image_array.dtype}, "
f"offset: {image_frame_id}"
f"timestamp offset: {buffer.pts // self.MILLISECONDS_PER_NANOSECOND}ms"
)
except Exception as ex:
Gst.error(f"Error: {ex}")
return Gst.FlowReturn.ERROR
return Gst.FlowReturn.OK
def gst_buffer_to_ndarray(buffer: Gst.Buffer,
*,
width: int,
height: int,
channels: int,
dtype: np.dtype,
bpp: int = 1,
do_copy: bool = False) -> np.ndarray:
"""Converts Gst.Buffer with known format (w, h, c, dtype) to np.ndarray"""
result = None
if do_copy:
result = np.ndarray(buffer.get_size() // (bpp // BITS_PER_BYTE),
buffer=buffer.extract_dup(0, buffer.get_size()),
dtype=dtype)
else:
with map_gst_buffer(buffer, Gst.MapFlags.READ) as mapped:
result = np.ndarray(buffer.get_size() // (bpp // BITS_PER_BYTE),
buffer=mapped,
dtype=dtype)
if channels > 0:
result = result.reshape(height, width, channels).squeeze()
return result
def gst_buffer_for_ndarray(buffer: Gst.Buffer, *, width: int, height: int,
channels: int,
dtype: np.dtype, bpp: int = 1) -> np.ndarray:
"""Converts Gst.Buffer with known format (w, h, c, dtype) to np.ndarray
Returns:
np.ndarray(c, w, h)
"""
with map_gst_buffer(buffer, Gst.MapFlags.READ) as mapped:
result = np.ndarray((buffer.get_size() // (bpp // BITS_PER_BYTE)),
buffer=mapped, dtype=dtype)
#make (c,h,w) array from memory buf
if channels > 0 :
result = result.reshape(channels, height, width)
else : #make (c,w,h) array form memory buf
result = result.reshape(height,width)
return result