IQ.Pilot Release Commit @ 4fcea4d

tools/webcam/camera.py

@@ -0,0 +1,39 @@
+import av
+import cv2 as cv
+
+class Camera:
+  def __init__(self, cam_type_state, stream_type, camera_id):
+    try:
+      camera_id = int(camera_id)
+    except ValueError: # allow strings, ex: /dev/video0
+      pass
+    self.cam_type_state = cam_type_state
+    self.stream_type = stream_type
+    self.cur_frame_id = 0
+
+    print(f"Opening {cam_type_state} at {camera_id}")
+
+    self.cap = cv.VideoCapture(camera_id)
+
+    self.cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280.0)
+    self.cap.set(cv.CAP_PROP_FRAME_HEIGHT, 720.0)
+    self.cap.set(cv.CAP_PROP_FPS, 25.0)
+
+    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
+    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
+
+  @classmethod
+  def bgr2nv12(self, bgr):
+    frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
+    return frame.reformat(format='nv12').to_ndarray()
+
+  def read_frames(self):
+    while True:
+      ret, frame = self.cap.read()
+      if not ret:
+        break
+      # Rotate the frame 180 degrees (flip both axes)
+      frame = cv.flip(frame, -1)
+      yuv = Camera.bgr2nv12(frame)
+      yield yuv.data.tobytes()
+    self.cap.release()