remove cv2 usage (#33101)

remove cv2

selfdrive/ui/tests/test_ui/run.py

@@ -19,7 +19,6 @@
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-from openpilot.tools.webcam.camera import Camera
 
 UI_DELAY = 0.5 # may be slower on CI?
 
@@ -76,7 +75,7 @@ def setup_onroad(click, pm: PubMaster):
 
   time.sleep(0.5) # give time for vipc server to start
 
-  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
+  IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8)
   IMG_BYTES = IMG.flatten().tobytes()
 
   cams = ('roadCameraState', 'wideRoadCameraState')

tools/webcam/camera.py

@@ -1,6 +1,4 @@
-# TODO: remove the cv2 dependency, it's only used here
-import cv2 as cv
-import numpy as np
+import av
 
 class Camera:
   def __init__(self, cam_type_state, stream_type, camera_id):
@@ -12,23 +10,19 @@ def __init__(self, cam_type_state, stream_type, camera_id):
     self.stream_type = stream_type
     self.cur_frame_id = 0
 
-    self.cap = cv.VideoCapture(camera_id)
-    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
-    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
+    self.container = av.open(camera_id)
+    self.video_stream = self.container.streams.video[0]
+    self.W = self.video_stream.codec_context.width
+    self.H = self.video_stream.codec_context.height
 
   @classmethod
   def bgr2nv12(self, bgr):
-    yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420)
-    uv_row_cnt = yuv.shape[0] // 3
-    uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0])
-    yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1)
-    return yuv
+    frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
+    return frame.reformat(format='nv12').to_ndarray()
 
   def read_frames(self):
-    while True:
-      sts , frame = self.cap.read()
-      if not sts:
-        break
-      yuv = Camera.bgr2nv12(frame)
+    for frame in self.container.decode(self.video_stream):
+      img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24
+      yuv = Camera.bgr2nv12(img)
       yield yuv.data.tobytes()
-    self.cap.release()
+    self.container.close()