Rip mp4 videos from logfiles with ffmpeg
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: I64d784721a9e3a45ef9eec05e7c95628f795232b
diff --git a/y2023/vision/video_ripper.cc b/y2023/vision/video_ripper.cc
new file mode 100644
index 0000000..3c93139
--- /dev/null
+++ b/y2023/vision/video_ripper.cc
@@ -0,0 +1,80 @@
+#include <unistd.h>
+
+#include <cstdlib>
+
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "aos/scoped/scoped_fd.h"
+#include "frc971/vision/vision_generated.h"
+
+DEFINE_string(channel, "/camera", "Channel name for the image.");
+DEFINE_int32(width, 1280, "Width of the image");
+DEFINE_int32(height, 720, "Height of the image");
+DEFINE_string(ffmpeg_binary, "external/ffmpeg/ffmpeg",
+ "The path to the ffmpeg binary");
+DEFINE_string(output_path, "video_ripper_output.mp4",
+ "The path to output the mp4 video");
+DEFINE_bool(flip, true, "If true, rotate the video 180 deg.");
+
+// Replays a log and dumps the contents of /camera frc971.vision.CameraImage
+// directly to stdout.
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+ const std::vector<aos::logger::LogFile> logfiles =
+ aos::logger::SortParts(aos::logger::FindLogs(argc, argv));
+ CHECK(!logfiles.empty());
+
+ // Start ffmpeg
+ std::stringstream command;
+ command << FLAGS_ffmpeg_binary;
+ command << " -framerate 30 -f rawvideo -pix_fmt yuyv422";
+ command << " -s " << FLAGS_width << "x" << FLAGS_height;
+ command << " -i pipe:";
+ command << " -c:v libx264 -f mp4";
+ if (FLAGS_flip) {
+ command << " -vf rotate=PI";
+ }
+ command << " \"" << FLAGS_output_path << "\"";
+
+ FILE *stream = popen(command.str().c_str(), "w");
+
+ const std::string replay_node = logfiles.at(0).logger_node;
+ LOG(INFO) << "Replaying as \"" << replay_node << "\"";
+
+ aos::logger::LogReader reader(logfiles, nullptr);
+ aos::SimulatedEventLoopFactory factory(reader.configuration());
+ reader.RegisterWithoutStarting(&factory);
+
+ const aos::Node *node =
+ (replay_node.empty() ||
+ !aos::configuration::MultiNode(reader.configuration()))
+ ? nullptr
+ : aos::configuration::GetNode(reader.configuration(), replay_node);
+
+ std::unique_ptr<aos::EventLoop> event_loop;
+ factory.GetNodeEventLoopFactory(node)->OnStartup([&stream, &event_loop,
+ &reader, node]() {
+ event_loop =
+ reader.event_loop_factory()->MakeEventLoop("video_ripper", node);
+ event_loop->MakeWatcher(
+ FLAGS_channel, [&stream](const frc971::vision::CameraImage &image) {
+ CHECK_EQ(FLAGS_width, image.cols())
+ << "Image width needs to match the images in the logfile";
+ CHECK_EQ(FLAGS_height, image.rows())
+ << "Image width needs to match the images in the logfile";
+
+ const size_t bytes_written =
+ write(fileno(stream), image.data()->data(), image.data()->size());
+ PCHECK(bytes_written == image.data()->size());
+ });
+ });
+
+ reader.event_loop_factory()->Run();
+ reader.Deregister();
+
+ pclose(stream);
+}