bump

analyze_dump.py

@@ -0,0 +1,337 @@
+import pickle
+with open('/home/thebears/source/infer/dump','rb') as ff:
+    dump = pickle.load(ff)
+
+
+
+# %%
+
+import av
+import numpy as np
+
+#def rtp_to_matrix(rtp_packets):
+if True:
+    """Convert list of RTP packets to image matrix"""
+    
+    # Create codec context (adjust codec based on your stream)
+    codec = av.CodecContext.create('h264', 'r')  # or 'h265', 'mjpeg', etc.
+    
+    frames = []
+    for _,rtp_packet in ts_data.items():
+        # Extract payload (skip RTP header - usually 12 bytes)
+        payload = rtp_packet
+        # Create packet
+        print(len(payload))
+        packet = av.Packet(payload)
+
+        try:
+            # Decode
+            for frame in codec.decode(packet):
+                # Convert to numpy array
+                img = frame.to_ndarray(format='bgr24')
+                frames.append(img)
+        except Exception as e:
+            print(f"Decode error: {e}")
+            continue
+    
+    # Flush decoder
+    for frame in codec.decode(None):
+        img = frame.to_ndarray(format='bgr24')
+        frames.append(img)
+    
+
+
+# Usage
+# rtp_packets = [packet1, packet2, ...]  # Your raw RTP packets
+# matrices = rtp_to_matrix(rtp_packets)
+
+
+# %%
+
+import subprocess
+import numpy as np
+import cv2
+from io import BytesIO
+
+class RTPDepayloader:
+    def __init__(self, payload_type):
+        """
+        payload_type: 96=H264, 26=JPEG, etc.
+        """
+        self.payload_type = payload_type
+        self.buffer = bytearray()
+        
+    def parse_rtp_header(self, packet):
+        """Parse RTP header and return payload"""
+        if len(packet) < 12:
+            return None
+            
+        # RTP Header structure (12 bytes minimum)
+        # Byte 0: V(2), P(1), X(1), CC(4)
+        # Byte 1: M(1), PT(7)
+        # Bytes 2-3: Sequence number
+        # Bytes 4-7: Timestamp
+        # Bytes 8-11: SSRC
+        
+        version = (packet[0] >> 6) & 0x03
+        padding = (packet[0] >> 5) & 0x01
+        extension = (packet[0] >> 4) & 0x01
+        csrc_count = packet[0] & 0x0F
+        
+        marker = (packet[1] >> 7) & 0x01
+        payload_type = packet[1] & 0x7F
+        
+        sequence = int.from_bytes(packet[2:4], 'big')
+        timestamp = int.from_bytes(packet[4:8], 'big')
+        
+        # Calculate header size
+        header_size = 12 + (csrc_count * 4)
+        
+        if extension:
+            if len(packet) < header_size + 4:
+                return None
+            ext_len = int.from_bytes(packet[header_size+2:header_size+4], 'big') * 4
+            header_size += 4 + ext_len
+        
+        # Return payload
+        payload = packet[header_size:]
+        
+        return {
+            'payload': payload,
+            'marker': marker,
+            'sequence': sequence,
+            'timestamp': timestamp,
+            'payload_type': payload_type
+        }
+    
+    def depayload_h264(self, rtp_packets):
+        """Depayload H.264 RTP packets to NAL units"""
+        nal_units = bytearray()
+        
+        for packet in rtp_packets:
+            parsed = self.parse_rtp_header(packet)
+            if not parsed:
+                continue
+                
+            payload = parsed['payload']
+            if len(payload) == 0:
+                continue
+            
+            # H.264 RTP payload format (RFC 6184)
+            nal_unit_type = payload[0] & 0x1F
+            
+            if nal_unit_type >= 1 and nal_unit_type <= 23:
+                # Single NAL unit
+                nal_units.extend(b'\x00\x00\x00\x01')  # Start code
+                nal_units.extend(payload)
+            elif nal_unit_type == 28:
+                # FU-A (Fragmentation Unit)
+                fu_header = payload[1]
+                start = (fu_header >> 7) & 0x01
+                end = (fu_header >> 6) & 0x01
+                nal_type = fu_header & 0x1F
+                
+                if start:
+                    # Reconstruct NAL header
+                    nal_header = (payload[0] & 0xE0) | nal_type
+                    nal_units.extend(b'\x00\x00\x00\x01')
+                    nal_units.append(nal_header)
+                
+                nal_units.extend(payload[2:])
+        
+        return bytes(nal_units)
+
+def decode_h264_to_matrix(h264_data):
+    """Decode H.264 bitstream to image matrix using FFmpeg"""
+    
+    # Use FFmpeg to decode
+    process = subprocess.Popen([
+        'ffmpeg',
+        '-f', 'h264',
+        '-i', 'pipe:0',
+        '-f', 'rawvideo',
+        '-pix_fmt', 'bgr24',
+        'pipe:1'
+    ], stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+    
+    stdout, stderr = process.communicate(input=h264_data)
+    
+    # You need to know dimensions or parse from SPS
+    # For now, assume 1920x1080
+    width, height = 1920, 1080
+    
+    if len(stdout) >= width * height * 3:
+        frame = np.frombuffer(stdout[:width*height*3], dtype=np.uint8)
+        frame = frame.reshape((height, width, 3))
+        return frame
+    
+    return None
+
+# Usage
+rtp_packets = [bytes(x) for x in dump]
+depayloader = RTPDepayloader(payload_type=96)
+# rtp_packets = [...]  # Your raw RTP packets
+h264_stream = depayloader.depayload_h264(rtp_packets)
+matrix = decode_h264_to_matrix(h264_stream)
+
+
+# %%
+
+
+bts = b''
+for i in range(10000):
+    bts+=process.stdout.read(1024)
+    print(i)
+# %%
+with open('dumpb','wb') as ff:
+    ff.write(bts)
+# %%
+import re
+pattern = b'BM'
+
+fcf = [m.start() for m in re.finditer(re.escape(pattern), bts)]
+
+
+# %%
+
+with open('dumpb','rb') as ff:
+    byte_stream = ff.read()[10:]
+
+
+import struct
+import numpy as np
+import cv2
+
+
+
+
+# %%
+import struct
+
+
+def read_bmp_frames(stream):
+    """Read individual BMP frames from a stream."""
+    while True:
+        # Read BMP signature (2 bytes)
+        signature = stream.read(2)
+        if len(signature) < 2:
+            break
+        
+        if signature != b'BM':
+            print(f"Warning: Expected 'BM', got {signature}")
+            break
+        
+        # Read file size (4 bytes, little-endian)
+        size_bytes = stream.read(4)
+        if len(size_bytes) < 4:
+            break
+        
+        file_size = struct.unpack('<I', size_bytes)[0]
+        
+        # Read the rest of the frame
+        remaining_size = file_size - 6  # Already read 6 bytes
+        frame_data = stream.read(remaining_size)
+        
+        if len(frame_data) < remaining_size:
+            break
+        
+        # Complete frame
+        complete_frame = signature + size_bytes + frame_data
+        yield complete_frame
+
+# Usage
+import subprocess as sp
+
+cmd = "ffmpeg -rtsp_transport tcp -i rtsp://admin:marybear@192.168.1.153:554/h264Preview_01_sub -f image2pipe -vcodec bmp -an pipe:1"
+
+# process = sp.Popen(
+#         cmd.split(" "),
+#         stdout=sp.PIPE,
+#         stderr=sp.PIPE,
+#     bufsize =512*896*3*3
+#     )
+
+
+
+
+import asyncio
+import subprocess
+
+async def read_stream():
+    """Read subprocess output asynchronously."""
+    
+    process = await asyncio.create_subprocess_exec(*cmd.split(" "),
+        stdout=asyncio.subprocess.PIPE,
+        stderr=asyncio.subprocess.PIPE
+    )
+    frame_count = 0
+    try:
+        while True:
+            # Read up to 65KB at a time
+            chunk = await process.stdout.read(65536)
+            print('chunk')
+            if not chunk:
+                break
+            
+            frame_count += len(chunk)
+            print(f"Read {len(chunk)} bytes (total: {frame_count})")
+    
+    except asyncio.CancelledError:
+        process.kill()
+        await process.wait()
+    
+    return frame_count
+
+# Run
+frame_count = asyncio.run(read_stream())
+# %%
+
+
+
+
+
+# %%
+
+import numpy as np
+fr = next(gen)
+import cv2
+
+# %%
+
+import av
+import numpy as np
+
+def rtp_to_matrix(rtp_packets):
+    """Convert list of RTP packets to image matrix"""
+    
+    # Create codec context (adjust codec based on your stream)
+    codec = av.CodecContext.create('h264', 'r')  # or 'h265', 'mjpeg', etc.
+    
+    frames = []
+    for rtp_packet in rtp_packets:
+        # Extract payload (skip RTP header - usually 12 bytes)
+        payload = rtp_packet[12:]
+        
+        # Create packet
+        packet = av.Packet(payload)
+        
+        try:
+            # Decode
+            for frame in codec.decode(packet):
+                # Convert to numpy array
+                img = frame.to_ndarray(format='bgr24')
+                frames.append(img)
+        except Exception as e:
+            print(f"Decode error: {e}")
+            continue
+    
+    # Flush decoder
+    for frame in codec.decode(None):
+        img = frame.to_ndarray(format='bgr24')
+        frames.append(img)
+    
+    return frames
+
+# Usage
+# rtp_packets = [packet1, packet2, ...]  # Your raw RTP packets
+# matrices = rtp_to_matrix(rtp_packets)

flycheck_run_me.py

@@ -0,0 +1,255 @@
+import numpy as np
+from functools import partial
+from hailo_platform import VDevice, HailoSchedulingAlgorithm, FormatType
+import cv2
+import numpy as np
+
+
+def resize_image(img_in, reshape_to_final=True):
+    if not isinstance(img_in, np.ndarray):
+        img_in = np.asarray(img_in)
+    max_l = 640
+
+    asp_rat = img_in.shape[0] / img_in.shape[1]
+    if asp_rat < 1:
+        output_size = [int(asp_rat * max_l), max_l]
+    else:
+        output_size = [max_l, int(max_l / asp_rat)]
+
+    im_arr_not_pad = cv2.resize(img_in, output_size[::-1])
+    pad_amt = [max_l, max_l] - np.asarray(im_arr_not_pad.shape[0:2])
+
+    left_pad, top_pad = (pad_amt / 2).astype(np.int64)
+    right_pad, bottom_pad = pad_amt - [left_pad, top_pad]
+
+    im_pass = np.zeros(shape=(max_l, max_l, 3), dtype=np.uint8)
+    im_pass[left_pad:(max_l - right_pad),
+            top_pad:(max_l - bottom_pad)] = (im_arr_not_pad)
+    data = im_pass
+    if reshape_to_final:
+        data = np.moveaxis(data, [2], [0])[None, :, :, :]
+
+    return data
+
+
+def model_scoring_callback(completion_info, bindings, data):
+    if completion_info.exception:
+        # handle exception
+        pass
+    ff = bindings.output().get_buffer()
+
+
+timeout_ms = 1000
+
+params = VDevice.create_params()
+params.scheduling_algorithm = HailoSchedulingAlgorithm.ROUND_ROBIN
+import time
+
+# The vdevice is used as a context manager ("with" statement) to ensure it's released on time.
+with VDevice(params) as vdevice:
+    # Create an infer model from an HEF:
+    infer_model = vdevice.create_infer_model("yolov11l_inat.hef")
+
+    # Configure the infer model and create bindings for it
+    with infer_model.configure() as configured_infer_model:
+        bindings = configured_infer_model.create_bindings()
+        st = time.time()
+        for i in range(1):
+            # Set input and output buffers
+            buffer = inp  # np.zeros(infer_model.input().shape).astype(np.uint8)
+            bindings.input().set_buffer(buffer)
+
+            output_array = np.zeros([infer_model.output().shape[0]
+                                     ]).astype(np.float32)
+            bindings.output().set_buffer(output_array)
+
+            # Run synchronous inference and access the output buffers
+            configured_infer_model.run([bindings], timeout_ms)
+            buffer = bindings.output().get_buffer()
+
+            # Run asynchronous inference
+            job = configured_infer_model.run_async(
+                [bindings],
+                partial(example_callback, bindings=bindings, data=time.time()),
+            )
+            job.wait(timeout_ms)
+
+# %%
+import cv2
+import time
+import multiprocessing
+import numpy as np
+import ctypes
+import shutil
+from utils import *
+
+cameras = {
+    "camera_sidefeeder": {
+        'url': "rtsp://admin:marybear@192.168.1.157:554/h264Preview_01_sub",
+        'resolution': (480, 640, 3)
+    },
+    "camera_driveway": {
+        'url': "rtsp://admin:marybear@192.168.1.152:554/h264Preview_01_sub",
+        'resolution': (480, 640, 3)
+    },
+    "camera_railing": {
+        'url': "rtsp://admin:marybear@192.168.1.153:554/h264Preview_01_sub",
+        'resolution': (512, 896, 3)
+    },
+    "camera_ptz_right": {
+        'url': "rtsp://admin:marybear@192.168.1.155:554/h264Preview_01_sub",
+        'resolution': (360, 640, 3)
+    },
+    "camera_wrenwatch": {
+        'url': "rtsp://admin:marybear@192.168.1.158:554/h264Preview_01_sub",
+        'resolution': (360, 640, 3)
+    },
+    "camera_backyard": {
+        'url': "rtsp://admin:marybear@192.168.1.162:554/h264Preview_01_sub",
+        'resolution': (432, 1536, 3),
+        'split_into_two': True
+    },
+}
+
+
+
+
+from functools import partial
+
+cameras = dict()
+for cam_name, details in cameras.items():
+    rtsp_url  = details['url']
+    resolution = details['resolution']
+    cameras[cam_name] = StreamManager(   rtsp_url, resolution, cam_name)
+
+
+# %%
+    details['cam_name'] = cam_name
+    details['img_array'] = multiprocessing.Array(ctypes.c_uint8,
+                                                 int(array_len),
+                                                 lock=True)
+    details['img_timestamp'] = multiprocessing.Value(ctypes.c_double)
+    details['queue'] = multiprocessing.Queue()
+    details['rtsp_url'] = format_ffmpeg_decode_url(details['url']).split(" ")
+    details['process_func'] = partial(stream_wrapper,
+                                    details['resolution'],
+                                    details['rtsp_url'],
+                                    camera_name=cam_name,
+                                    queue=details['queue'],
+                                    img_array=details['img_array'],
+                                    img_timestamp=details['img_timestamp'])
+
+for cam_name, details in cameras.items():
+    p = multiprocessing.Process(target = details['process_func'])
+    details['process'] = p
+    p.start()
+
+# %%
+img_array = details['img_array']
+img_timestamp = details['img_timestamp']
+
+import time
+with img_timestamp.get_lock():
+    img_timestamp.value = -1
+details['queue'].put('get')
+for i in range(1000):
+    val = img_timestamp.value
+    print(val)    
+    if val > 0:
+
+        print('Done')
+        break
+    time.sleep(0.001)
+
+
+# %%
+for cam_name, details in cameras.items():
+    details['queue'].put('get')
+    img_array = details['img_array']
+    img_timestamp = details['img_timestamp']
+    with img_array.get_lock(), img_timestamp.get_lock():
+        reshaped_image = np.frombuffer(details['img_array'].get_obj(),
+                                       dtype=np.uint8).reshape(
+                                           details['resolution'])
+        timestamp = img_timestamp.value
+        img_timestamp.value = -1
+    print('Writing for ' + cam_name + f' for {reshaped_image.shape}')
+    cv2.imwrite('images/'+ cam_name  + '.jpg', reshaped_image)
+
+
+
+# %%
+import asyncio
+
+img_scoring_queue = multiprocessing.Queue()
+
+for cam_name, details in cameras.items():
+    p = multiprocessing.Process(target=rtsp_stream_manager,
+                                args=(cam_name, details['gst_pipeline_str'],
+                                      details['queue'], details['img_array'],
+                                      details['img_timestamp']))
+    details['process'] = p
+
+asyncio.create_task(details['async_task'])
+
+shape = (512, 896, 3)
+
+asyncio.run(read_stream(shape, cmd))
+
+import datetime as dt
+
+for cam_name, details in cameras.items():
+    details['process'].start()
+# %%
+for cam_name, details in cameras.items():
+    details['queue'].put('restart')
+# %%
+for cam_name, details in cameras.items():
+    details['queue'].put('get')
+
+if os.path.exists('images/'):
+    shutil.rmtree('images/')
+
+os.makedirs('images/')
+
+
+def create_score_message(details, reshaped_image, timestamp):
+    frames = list()
+
+    msg = list()
+    if details.get('split_into_two', False):
+        split_point = int(reshaped_image.shape[1] / 2)
+        left_frame = resize_image(reshaped_image[:, :split_point, :],
+                                  reshape_to_final=False)
+        right_frame = resize_image(reshaped_image[:, split_point:, :],
+                                   reshape_to_final=False)
+
+        left_frame = cv2.cvtColor(left_frame, cv2.COLOR_BGR2RGB)
+        right_frame = cv2.cvtColor(right_frame, cv2.COLOR_BGR2RGB)
+        msg.append({
+            'camera_name': details['cam_name'] + '_left',
+            'frame': left_frame,
+            'image_timestamp': timestamp
+        })
+        msg.append({
+            'camera_name': details['cam_name'] + '_right',
+            'frame': right_frame,
+            'image_timestamp': timestamp
+        })
+
+    else:
+        frame = resize_image(reshaped_image, reshape_to_final=False)
+        frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        msg.append({
+            'camera_name': details['cam_name'],
+            'frame': frame,
+            'image_timestamp': timestamp
+        })
+
+    return msg
+
+
+for x in range(img_scoring_queue.qsize()):
+    qu = img_scoring_queue.get()
+    print(qu['camera_name'], qu['frame'].shape)
+    cv2.imwrite(str(x) + '.jpg', qu['frame'])

run_me.py

@@ -2,7 +2,6 @@ import numpy as np
 from functools import partial
 from hailo_platform import VDevice, HailoSchedulingAlgorithm, FormatType
 import cv2
-
 import numpy as np
 
 
@@ -33,7 +32,6 @@ def resize_image(img_in, reshape_to_final=True):
     return data
 
 
-
 def model_scoring_callback(completion_info, bindings, data):
     if completion_info.exception:
         # handle exception
@@ -83,9 +81,11 @@ import multiprocessing
 import numpy as np
 import ctypes
 import shutil
+from utils import *
+
 cameras = {
-    "camera_side": {
+    "camera_sidefeeder": {
-        'url': "rtsp://admin:marybear@192.168.1.151:554/h264Preview_01_sub",
+        'url': "rtsp://admin:marybear@192.168.1.157:554/h264Preview_01_sub",
         'resolution': (480, 640, 3)
     },
     "camera_driveway": {
@@ -111,65 +111,92 @@ cameras = {
     },
 }
 
-# # %%
-# import os
-# os.environ['OPENCV_FFMPEG_CAPTURE_OPTIONS'] = 'rtsp_transport;udp'
-# cap = cv2.VideoCapture(cameras['camera_railing']['url'])
-# # %%
-# while True:
-#     _, frame = cap.read()
-
-# # %%
-# _, frame = cap.read()
-# cv2.imwrite('FRAME.jpg', frame)
-
-# # %%
-def format_gst_url(rtsp_url):
-    gst_pipeline = f"rtspsrc location={rtsp_url} latency=50 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! appsink max-buffers=1 drop=true"
-    return gst_pipeline
 
 
+
+from functools import partial
+
+cameras = dict()
 for cam_name, details in cameras.items():
-    array_len = np.prod(details['resolution'])
+    rtsp_url  = details['url']
+    resolution = details['resolution']
+    cameras[cam_name] = StreamManager(   rtsp_url, resolution, cam_name)
+
+
+# %%
     details['cam_name'] = cam_name
     details['img_array'] = multiprocessing.Array(ctypes.c_uint8,
-                                                 int(array_len), lock = True)
+                                                 int(array_len),
+                                                 lock=True)
     details['img_timestamp'] = multiprocessing.Value(ctypes.c_double)
     details['queue'] = multiprocessing.Queue()
-    details['gst_pipeline_str'] = format_gst_url(details['url'])
+    details['rtsp_url'] = format_ffmpeg_decode_url(details['url']).split(" ")
+    details['process_func'] = partial(stream_wrapper,
+                                    details['resolution'],
+                                    details['rtsp_url'],
+                                    camera_name=cam_name,
+                                    queue=details['queue'],
+                                    img_array=details['img_array'],
+                                    img_timestamp=details['img_timestamp'])
+
+for cam_name, details in cameras.items():
+    p = multiprocessing.Process(target = details['process_func'])
+    details['process'] = p
+    p.start()
+
+# %%
+img_array = details['img_array']
+img_timestamp = details['img_timestamp']
+
+import time
+with img_timestamp.get_lock():
+    img_timestamp.value = -1
+details['queue'].put('get')
+for i in range(1000):
+    val = img_timestamp.value
+    print(val)    
+    if val > 0:
+
+        print('Done')
+        break
+    time.sleep(0.001)
 
 
-import datetime as dt
+# %%
-def rtsp_stream_manager( camera_name, gst_pipeline_str, queue, img_array, img_timestamp):
+for cam_name, details in cameras.items():
-    capture_handle = cv2.VideoCapture(gst_pipeline_str, cv2.CAP_GSTREAMER)
+    details['queue'].put('get')
-    while True:
+    img_array = details['img_array']
-        if not queue.empty():
+    img_timestamp = details['img_timestamp']
-            msg = queue.get_nowait()
+    with img_array.get_lock(), img_timestamp.get_lock():
-            if msg == 'get':
+        reshaped_image = np.frombuffer(details['img_array'].get_obj(),
-                ret, frame = capture_handle.read()
+                                       dtype=np.uint8).reshape(
-                with img_timestamp.get_lock(), img_array.get_lock():
+                                           details['resolution'])
-                    if frame is None:
+        timestamp = img_timestamp.value
-                        print(f"Read empty frame for {camera_name}")
+        img_timestamp.value = -1
-                        img_array[:] = 0
+    print('Writing for ' + cam_name + f' for {reshaped_image.shape}')
-                        img_timestamp.value = 0
+    cv2.imwrite('images/'+ cam_name  + '.jpg', reshaped_image)
-                    else:
+
-                        print(f"Read frame for {camera_name} at {dt.datetime.now()}")
+
-                        img_array[:] = frame.flatten()[:]
+
-                        img_timestamp.value = time.time()
+# %%
-            elif msg == 'restart':
+import asyncio
-                print('Restarting')            
+
-                capture_handle = cv2.VideoCapture(gst_pipeline_str, cv2.CAP_GSTREAMER)
-            elif  msg == 'exit':
-                print('Exiting')
-                return
 img_scoring_queue = multiprocessing.Queue()
 
 for cam_name, details in cameras.items():
     p = multiprocessing.Process(target=rtsp_stream_manager,
                                 args=(cam_name, details['gst_pipeline_str'],
-                                      details['queue'], details['img_array'], details['img_timestamp']))
+                                      details['queue'], details['img_array'],
+                                      details['img_timestamp']))
     details['process'] = p
 
+asyncio.create_task(details['async_task'])
+
+shape = (512, 896, 3)
+
+asyncio.run(read_stream(shape, cmd))
+
+import datetime as dt
 
 for cam_name, details in cameras.items():
     details['process'].start()
@@ -180,7 +207,6 @@ for cam_name, details in cameras.items():
 for cam_name, details in cameras.items():
     details['queue'].put('get')
 
-
 if os.path.exists('images/'):
     shutil.rmtree('images/')
 
@@ -193,47 +219,37 @@ def create_score_message( details, reshaped_image, timestamp):
     msg = list()
     if details.get('split_into_two', False):
         split_point = int(reshaped_image.shape[1] / 2)
-        left_frame = resize_image(reshaped_image[:,:split_point,:], reshape_to_final = False)
+        left_frame = resize_image(reshaped_image[:, :split_point, :],
-        right_frame = resize_image(reshaped_image[:,split_point:,:], reshape_to_final = False)
+                                  reshape_to_final=False)
+        right_frame = resize_image(reshaped_image[:, split_point:, :],
+                                   reshape_to_final=False)
 
         left_frame = cv2.cvtColor(left_frame, cv2.COLOR_BGR2RGB)
         right_frame = cv2.cvtColor(right_frame, cv2.COLOR_BGR2RGB)
-        msg.append({'camera_name': details['cam_name']+'_left', 'frame': left_frame, 'image_timestamp': timestamp})
+        msg.append({
-        msg.append({'camera_name': details['cam_name']+'_right', 'frame': right_frame, 'image_timestamp': timestamp})
+            'camera_name': details['cam_name'] + '_left',
+            'frame': left_frame,
+            'image_timestamp': timestamp
+        })
+        msg.append({
+            'camera_name': details['cam_name'] + '_right',
+            'frame': right_frame,
+            'image_timestamp': timestamp
+        })
 
     else:
         frame = resize_image(reshaped_image, reshape_to_final=False)
         frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
-        msg.append({'camera_name': details['cam_name'], 'frame': frame, 'image_timestamp': timestamp})
+        msg.append({
-        
+            'camera_name': details['cam_name'],
+            'frame': frame,
+            'image_timestamp': timestamp
+        })
 
     return msg
 
 
-
-for cam_name, details in cameras.items():
-    img_array = details['img_array']
-    img_timestamp = details['img_timestamp']
-    with img_array.get_lock(), img_timestamp.get_lock():
-        reshaped_image = np.frombuffer(details['img_array'].get_obj(), dtype=np.uint8).reshape(details['resolution'])
-        timestamp = img_timestamp.value
-        for msg in create_score_message(details, reshaped_image, timestamp):
-            img_scoring_queue.put(msg)
-        
-
-    print('Writing for ' + cam_name + f' for {reshaped_image.shape}')
- #   cv2.imwrite('images/'+ cam_name  + '.jpg', reshaped_image)
-
-
-
-
-
 for x in range(img_scoring_queue.qsize()):
     qu = img_scoring_queue.get()
     print(qu['camera_name'], qu['frame'].shape)
     cv2.imwrite(str(x) + '.jpg', qu['frame'])
-
-
-
-
-

utils.py

@@ -0,0 +1,112 @@
+import asyncio
+import numpy as np
+import struct
+import re
+import pickle        
+import datetime as dt
+import time
+import numpy
+
+
+class StreamManager():
+    def __init__(self, rtsp_url, resolution, camera_name = 'N/A'):
+        self.cam_name = cam_name
+
+
+        self.array_len = np.prod(resolution)
+        self.cam_name = cam_name
+        self.img_array = multiprocessing.Array(ctypes.c_uint8,
+                                                     int(array_len),
+                                                     lock=True)
+        self.img_timestamp = multiprocessing.Value(ctypes.c_double)
+        self.queue = multiprocessing.Queue()
+        self.rtsp_url = format_ffmpeg_decode_url(rtsp_url).split(" ")
+        self.process_func = partial(stream_wrapper,
+                                        self.resolution,
+                                        self.rtsp_url,
+                                        camera_name=cam_name,
+                                        queue=self.queue,
+                                        img_array=self.img_array,
+                                        img_timestamp=self.img_timestamp))
+
+
+def get_next_bitmap( byte_stream, shape):
+    numel = np.prod(shape)
+    string_find = b'BM' + struct.pack('<I',numel+54)
+    fcf = [m.start() for m in re.finditer(re.escape(string_find), byte_stream)]    
+    for start_index in fcf:
+        end_index = start_index + 60+numel
+        frame_data_with_header = byte_stream[start_index:end_index]
+        header = frame_data_with_header[:60]
+        frame = frame_data_with_header[60:]
+        nf = np.frombuffer(frame, dtype=np.uint8)
+        if len(nf) != numel:
+            return None, None
+        pic = np.reshape(nf, shape)
+        pic = pic[::-1,:,:]
+        if len(nf) == numel:
+            return pic
+
+
+def stream_wrapper(  shape, cmd, camera_name = None, queue = None, img_array = None, img_timestamp = None):
+    print('Starting wrapper')
+    func = read_stream( shape, cmd, camera_name = camera_name, queue = queue, img_array = img_array, img_timestamp = img_timestamp)
+    asyncio.run(func)
+
+    
+    
+async def read_stream( shape, cmd, camera_name = None, queue = None, img_array = None, img_timestamp = None):
+    print('Starting stream')
+    byte_buffer = b''
+    bytes_read = (np.prod(shape)+60)*2
+    print(cmd)
+    process = await asyncio.create_subprocess_exec(*cmd,
+        stdout=asyncio.subprocess.PIPE,
+        stderr=asyncio.subprocess.PIPE
+    )
+    try:
+        while True:
+            # Read up to 65KB at a time
+            chunk = await process.stdout.read(bytes_read)
+            byte_buffer += chunk
+            diff = len(byte_buffer) - bytes_read
+#            print(len(byte_buffer))
+            if diff > 0:
+                byte_buffer = byte_buffer[diff::]
+                    
+
+            if not queue.empty():
+                msg = queue.get_nowait()
+                print('got message! ' + str( msg))
+                if msg == 'exit':
+                    return
+                    
+                if msg == 'get':
+                    print('doing get!')
+                    frame = get_next_bitmap(byte_buffer, shape)
+                    with img_timestamp.get_lock(), img_array.get_lock():
+                        if frame is None:
+                            print(f"Read empty frame for {camera_name}")
+                            img_array[:] = 0
+                            img_timestamp.value = 0
+                        else:
+                            print(f"Read frame for {camera_name} at {dt.datetime.now()}")
+                            img_array[:] = frame.flatten()[:]
+                            img_timestamp.value = time.time()
+
+    
+    except asyncio.CancelledError:
+        print('Cancelled Error')
+        process.kill()
+        await process.wait()
+    
+    
+
+
+def format_gst_url(rtsp_url):
+    gst_pipeline = f"rtspsrc location={rtsp_url} latency=50 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! appsink max-buffers=1 drop=true"
+    return gst_pipeline
+
+def format_ffmpeg_decode_url(rtsp_url):
+    cmd = f"ffmpeg -rtsp_transport tcp -i {rtsp_url} -f image2pipe -vcodec bmp -an pipe:1"
+    return cmd