From 82999809fca0be7ef4df287bb181869c54799715 Mon Sep 17 00:00:00 2001 From: elkoled Date: Wed, 16 Sep 2026 15:49:06 -0700 Subject: [PATCH] use teleoprtc --- .github/workflows/test.yml | 2 +- README.md | 17 +-- examples/03_camera.py | 52 +++---- examples/teleop.py | 77 ++++++++++ pyproject.toml | 8 +- setup.sh | 18 ++- uv.lock | 295 ++++++++++--------------------------- 7 files changed, 200 insertions(+), 269 deletions(-) create mode 100644 examples/teleop.py diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 431bf65..ca382c9 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -18,7 +18,7 @@ jobs: strategy: fail-fast: false matrix: - os: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-arm, macos-14, macos-15] + os: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-arm, macos-15] runs-on: ${{ matrix.os }} steps: - uses: actions/checkout@v7 diff --git a/README.md b/README.md index f3778c8..31f3b5d 100644 --- a/README.md +++ b/README.md @@ -46,7 +46,7 @@ python examples/02_vision.py zidane.jpg --model segment --output masks.jpg Run YOLO26 detection or segmentation on a webcam. Use `--frames 100` for more. `--source` also accepts a video path or stream URL. -Add `--preview` for a live window that runs until you press Esc. +Add `--preview` for a live preview window ```sh python examples/03_camera.py --source 0 @@ -87,20 +87,15 @@ DEV=USB+AMD:LLVM python examples/03_camera.py --source 0 ## Comma camera -On a comma device, run setup and activate the environment as above. Requires openpilot at `/data/openpilot`. Select the road, driver, or wide road camera with `--source comma:road`, `comma:driver`, or `comma:wide`. Add `--model segment` to any camera command for segmentation. ```sh -# Comma CPU -python examples/03_camera.py --source comma:road -python examples/03_camera.py --source comma:driver -python examples/03_camera.py --source comma:wide - -# chestnut GPU connected to comma -DEV=USB+AMD:LLVM python examples/03_camera.py --source comma:road -DEV=USB+AMD:LLVM python examples/03_camera.py --source comma:driver -DEV=USB+AMD:LLVM python examples/03_camera.py --source comma:wide +python examples/03_camera.py --host --source comma:road +python examples/03_camera.py --host --source comma:driver +python examples/03_camera.py --host --source comma:wide + +DEV=USB+AMD:LLVM python examples/03_camera.py --host --source comma:road ``` ## Performance diff --git a/examples/03_camera.py b/examples/03_camera.py index 478ec02..bfcf687 100644 --- a/examples/03_camera.py +++ b/examples/03_camera.py @@ -1,36 +1,10 @@ import argparse +import asyncio from pathlib import Path -import subprocess -import sys import cv2 -import numpy as np from vision import Vision -def comma_frames(stream): - checkout = Path('/data/openpilot') - sys.path.append(str(checkout)) - from msgq.visionipc import VisionIpcClient - process = None - if subprocess.run(['pgrep', '-x', 'camerad'], stdout=subprocess.DEVNULL).returncode: - process = subprocess.Popen([str(checkout / 'openpilot/system/camerad/camerad')], - cwd=checkout, stdout=subprocess.DEVNULL) - try: - client = VisionIpcClient('camerad', stream, True) - client.connect(True) - while True: - buf = client.recv() - if buf is None: continue - y = np.ndarray((buf.height, buf.width), np.uint8, buf.data, strides=(buf.stride, 1)) - uv = np.ndarray((buf.height//2, buf.width//2, 2), np.uint8, buf.data, - offset=buf.uv_offset, strides=(buf.stride, 2, 1)) - yield cv2.cvtColorTwoPlane(y, uv, cv2.COLOR_YUV2BGR_NV12) - finally: - if process is not None: - process.terminate() - process.wait() - - def video_frames(source): capture = cv2.VideoCapture(int(source) if source.isdecimal() else source) try: @@ -43,21 +17,30 @@ def video_frames(source): capture.release() -if __name__ == '__main__': +async def main(): parser = argparse.ArgumentParser(description='YOLO26 on a webcam, video, or comma camera.') parser.add_argument('--source', default='0', help='Webcam, video/URL, or comma:road, comma:driver, comma:wide') + parser.add_argument('--host', help='comma IP address') parser.add_argument('--model', choices=['yolo', 'segment'], default='yolo') parser.add_argument('--frames', type=int, default=10, help='Frames to save without preview') parser.add_argument('--preview', action='store_true', help='Show a live preview window') args = parser.parse_args() + if args.source.startswith('comma') and not args.host: parser.error('--host is required for a comma camera') model = Vision(args.model) Path('frames').mkdir(exist_ok=True) - comma_streams = {'comma': 0, 'comma:road': 0, 'comma:wide': 1, 'comma:driver': 2} - stream = comma_frames(comma_streams[args.source]) if args.source in comma_streams else video_frames(args.source) + comma_streams = {'comma': 'road', 'comma:road': 'road', 'comma:wide': 'wideRoad', 'comma:driver': 'driver'} + if args.source in comma_streams: + from teleop import frames + stream = frames(args.host, comma_streams[args.source]) + else: + stream = video_frames(args.source) print('Saving to frames/.', flush=True) try: - for i, frame in enumerate(stream): + i = 0 + while True: + try: frame = await anext(stream) if args.source in comma_streams else next(stream) + except (StopAsyncIteration, StopIteration): break result = model(frame) result.save(f'frames/{i:05d}.jpg') if args.preview: @@ -65,6 +48,11 @@ def video_frames(source): if cv2.waitKey(1) == 27: break print(f'Frame {i + 1}', flush=True) if not args.preview and i + 1 >= args.frames: break + i += 1 finally: - stream.close() + await stream.aclose() if args.source in comma_streams else stream.close() if args.preview: cv2.destroyAllWindows() + + +if __name__ == '__main__': + asyncio.run(main()) diff --git a/examples/teleop.py b/examples/teleop.py new file mode 100644 index 0000000..09c3e5f --- /dev/null +++ b/examples/teleop.py @@ -0,0 +1,77 @@ +import asyncio +import json +import urllib.request + +import av +from libdatachannel import H264RtpDepacketizer, NalUnit, RtcpReceivingSession +from teleoprtc import StreamingOffer, WebRTCOfferBuilder +from teleoprtc.stream import RTCSessionDescription + +class Connection: + def __init__(self, host): + self.url = f'http://{host}:5001/stream' + + async def __call__(self, offer: StreamingOffer): + return await asyncio.to_thread(self.connect, offer) + + def connect(self, offer): + body = json.dumps({'sdp': offer.sdp, 'cameras': offer.video, 'enabled': True, + 'bridge_services_in': [], 'bridge_services_out': []}).encode() + request = urllib.request.Request(self.url, body, {'Content-Type': 'application/json'}) + with urllib.request.urlopen(request, timeout=10) as response: + answer = json.load(response) + return RTCSessionDescription(answer['sdp'], answer['type']) + + +class Receiver: + def __init__(self, track): + self.loop = asyncio.get_running_loop() + self.queue = asyncio.Queue(2) + self.decoder = av.CodecContext.create('h264', 'r') + self.depacketizer = H264RtpDepacketizer(NalUnit.Separator.StartSequence) + self.rtcp = RtcpReceivingSession() + track.set_media_handler(self.depacketizer) + track.chain_media_handler(self.rtcp) + track.on_frame(lambda data, _: self.loop.call_soon_threadsafe(self.enqueue, bytes(data))) + self.track = track + track.request_keyframe() + + def enqueue(self, data): + if self.queue.full(): self.queue.get_nowait() + self.queue.put_nowait(data) + + async def recv(self): + while True: + try: + for packet in self.decoder.parse(await self.queue.get()): + frames = self.decoder.decode(packet) + if frames: return frames[-1].to_ndarray(format='bgr24') + except av.FFmpegError: + self.track.request_keyframe() + + def close(self): + self.track.reset_callbacks() + self.track.close() + self.track = self.depacketizer = self.rtcp = None + + +async def frames(host, camera): + tunnel = await asyncio.create_subprocess_exec('ssh', '-N', '-L', '5001:localhost:5001', f'comma@{host}') + await asyncio.sleep(0.5) + builder = WebRTCOfferBuilder(Connection('localhost')) + builder.offer_to_receive_video_stream(camera) + stream = builder.stream() + await stream.start() + await stream.wait_for_connection() + receiver = Receiver(stream.get_incoming_video_track(camera)) + try: + while stream.is_connected_and_ready: + try: + yield await asyncio.wait_for(receiver.recv(), 0.5) + except TimeoutError: + receiver.track.request_keyframe() + finally: + receiver.close() + await stream.stop() + tunnel.terminate() + await tunnel.wait() diff --git a/pyproject.toml b/pyproject.toml index 5174e75..6286b44 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,13 +1,15 @@ [project] name = "chestnut" version = "0.1.0" -requires-python = ">=3.11,<3.13" +requires-python = ">=3.12,<3.13" dependencies = [ "tinygrad", "jinja2==3.1.6", "numpy==2.3.5", - "opencv-python-headless>=4.11,<5", - "ultralytics-opencv-headless==8.4.153", + "opencv-python>=4.11,<5", + "ultralytics==8.4.153", + "av>=15,<17", + "teleoprtc @ https://github.com/commaai/teleoprtc/archive/1aa8fc433bef1519a95c0700c96258c3be6dfb34.tar.gz", "onnx>=1.17,<2", "torch>=2.5", "torchvision>=0.20", diff --git a/setup.sh b/setup.sh index 4e91e46..e449e77 100755 --- a/setup.sh +++ b/setup.sh @@ -15,18 +15,20 @@ case "$(uname -s):$(uname -m)" in getconf GNU_LIBC_VERSION >/dev/null || { echo 'glibc Linux is required.' >&2; exit 1; } ;; Darwin:arm64) - [ "$(sw_vers -productVersion | cut -d. -f1)" -ge 14 ] || { echo 'macOS 14+ is required.' >&2; exit 1; } + [ "$(sw_vers -productVersion | cut -d. -f1)" -ge 15 ] || { echo 'macOS 15+ is required.' >&2; exit 1; } command -v brew >/dev/null || { echo 'Install Homebrew and rerun setup.' >&2; exit 1; } brew list --versions llvm@21 libusb >/dev/null 2>&1 || brew install llvm@21 libusb export PATH="/opt/homebrew/opt/llvm@21/bin:$PATH" ;; - *) echo 'Use x86_64/aarch64 Linux or Apple Silicon macOS 14+.' >&2; exit 1 ;; + *) echo 'Use x86_64/aarch64 Linux or Apple Silicon macOS 15+.' >&2; exit 1 ;; esac if [ "$(uname -s)" = Linux ] && { ! command -v clang >/dev/null || ! command -v curl >/dev/null || - ! command -v awk >/dev/null || ! command -v tar >/dev/null || ! command -v gzip >/dev/null || + ! command -v awk >/dev/null || ! command -v find >/dev/null || ! command -v tar >/dev/null || ! command -v gzip >/dev/null || ! ldconfig -p 2>/dev/null | grep -E 'libLLVM(-|\.so\.)(19|20|21)' >/dev/null || - ! ldconfig -p 2>/dev/null | grep -F 'libusb-1.0.so' >/dev/null; }; then + ! ldconfig -p 2>/dev/null | grep -F 'libusb-1.0.so' >/dev/null || + ! ldconfig -p 2>/dev/null | grep -F 'libGL.so.1' >/dev/null || + ! ldconfig -p 2>/dev/null | grep -F 'libgthread-2.0.so.0' >/dev/null; }; then if command -v apt-get >/dev/null; then "${as_root[@]}" apt-get update llvm_package= @@ -49,14 +51,14 @@ if [ "$(uname -s)" = Linux ] && { ! command -v clang >/dev/null || ! command -v "${as_root[@]}" apt-get update llvm_package=libllvm20 fi - "${as_root[@]}" apt-get install -y --no-install-recommends ca-certificates curl clang "$llvm_package" libusb-1.0-0 gawk tar gzip + "${as_root[@]}" apt-get install -y --no-install-recommends ca-certificates curl clang "$llvm_package" libusb-1.0-0 libgl1 libglib2.0-0 libxcb1 findutils gawk tar gzip elif command -v dnf >/dev/null; then - "${as_root[@]}" dnf install -y ca-certificates clang llvm-libs libusb1 curl gawk tar gzip + "${as_root[@]}" dnf install -y ca-certificates clang llvm-libs libusb1 mesa-libGL glib2 libxcb findutils curl gawk tar gzip elif command -v pacman >/dev/null; then - "${as_root[@]}" pacman -Syu --needed --noconfirm ca-certificates clang llvm20-libs libusb curl gawk tar gzip + "${as_root[@]}" pacman -Syu --needed --noconfirm ca-certificates clang llvm20-libs libusb libglvnd glib2 libxcb findutils curl gawk tar gzip elif command -v zypper >/dev/null; then "${as_root[@]}" zypper --non-interactive refresh - "${as_root[@]}" zypper --non-interactive install ca-certificates clang libLLVM20 libusb-1_0-0 curl gawk tar gzip + "${as_root[@]}" zypper --non-interactive install ca-certificates clang libLLVM20 libusb-1_0-0 libglvnd libglib-2_0-0 libgthread-2_0-0 libxcb1 findutils curl gawk tar gzip else echo 'Install clang, curl, LLVM 19–21, and libusb with your package manager.' >&2 exit 1 diff --git a/uv.lock b/uv.lock index 5b7ec39..46b6731 100644 --- a/uv.lock +++ b/uv.lock @@ -1,13 +1,10 @@ version = 1 revision = 3 -requires-python = ">=3.11, <3.13" +requires-python = "==3.12.*" resolution-markers = [ - 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