tools: script for video concatenation (#1613)

* tools: script for video concatenation * more * final --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
2026-08-05 00:05:57 +08:00 · 2026-04-14 14:23:15 -07:00
parent 6102aedf05
commit fd590b206e
1 changed files with 136 additions and 0 deletions
@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import argparse
+import os
+import shutil
+import subprocess
+import sys
+import requests
+from openpilot.tools.lib.route import Route
+
+
+def get_segments(source, route_id, camera, seg_range):
+  if "@" in source or "comma-" in source or "sunny-" in source:  # SSH
+    if not route_id:
+      raise ValueError("route_id required for SSH")
+    cmd = ["ssh", source, f"ls -d /data/media/0/realdata/{route_id.split('--')[0]}--*"]
+    output = subprocess.check_output(cmd, stderr=subprocess.DEVNULL).decode("utf-8").strip()
+    return [{
+      "type": "ssh",
+      "host": source,
+      "src": os.path.join(path, camera),
+      "num": int(path.split("--")[-1])
+    } for path in sorted(output.split("\n"), key=lambda x: int(x.split("--")[-1])) if path]
+  else:  # URL
+    route = Route(route_id)
+    cameras = [camera]
+    if camera == "fcamera.hevc":
+      cameras.extend([c for c in ["ecamera.hevc", "qcamera.ts"] if c != camera])
+
+    for cam in cameras:
+      attr_name = "camera_paths" if cam == "fcamera.hevc" else f"{cam.split('.')[0]}_paths"
+      paths = getattr(route, attr_name)()
+      if any(paths):
+        return [{"type": "url", "src": url, "num": idx, "cam": cam} for idx, url in enumerate(paths) if url]
+
+    raise ValueError(f"No footage found for {route_id}")
+
+
+def download(job, out_dir):
+  destination = os.path.join(out_dir, f"{job['num']}_{os.path.basename(job.get('cam', job.get('src')))}")
+  if os.path.exists(destination) and os.path.getsize(destination) > 0:
+    return destination
+
+  print(f"Downloading segment {job['num']}")
+  if job["type"] == "ssh":
+    subprocess.check_call(["scp", f"{job['host']}:{job['src']}", destination])
+  else:
+    with requests.get(job["src"], stream=True) as r:
+      r.raise_for_status()
+      with open(destination, 'wb') as f:
+        shutil.copyfileobj(r.raw, f)
+  return destination
+
+
+def mux(files, output_file, codec):
+  list_filename = f"{output_file}.list.txt"
+  with open(list_filename, 'w') as f:
+    f.write('\n'.join([f"file '{os.path.abspath(name)}'" for name in files]))
+
+  try:
+    cmd = [
+      "ffmpeg", "-y", "-probesize", "100M", "-analyzeduration", "100M", "-f", "concat",
+      "-safe", "0", "-r", "20", "-i", list_filename, "-c", "copy", "-tag:v", codec, output_file
+    ]
+    subprocess.check_call(cmd)
+    print(f"Saved: {output_file} ({os.path.getsize(output_file) / 1048576:.2f} MB)")
+    if sys.platform == "darwin":
+      subprocess.run(["open", "-R", output_file])
+  finally:
+    if os.path.exists(list_filename):
+      os.remove(list_filename)
+
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument("source")
+  parser.add_argument("route_id", nargs='?')
+  parser.add_argument("--output", "-o", default="output.mp4")
+  parser.add_argument("--camera", "-c", default="fcamera.hevc")
+  parser.add_argument("--keep-segments", action="store_true")
+  args = parser.parse_args()
+
+  try:
+    route_id_str = args.route_id or args.source
+    segment_range = None
+    if "/" in route_id_str:
+      route_id_str, range_str = route_id_str.rsplit("/", 1)
+      if ":" in range_str or range_str.isdigit():
+        segment_range = range_str
+
+    is_ssh = "@" in args.source or "comma-" in args.source or "sunny-" in args.source
+    if not is_ssh and len(route_id_str.split("--")) > 2:
+      route_id_str = "--".join(route_id_str.split("--")[:2])
+
+    segments = get_segments(args.source, route_id_str, args.camera, segment_range)
+    if segment_range:
+      if ":" in segment_range:
+        parts = segment_range.split(":")
+        start_idx = int(parts[0]) if parts[0] else None
+        end_idx = int(parts[1]) if parts[1] else None
+      else:
+        start_idx = int(segment_range)
+        end_idx = start_idx + 1
+
+      segments = [
+        segment for segment in segments
+        if (start_idx is None or segment['num'] >= start_idx) and (end_idx is None or segment['num'] < end_idx)
+      ]
+
+    download_dir = f"{route_id_str}_segments"
+    os.makedirs(download_dir, exist_ok=True)
+
+    downloaded_files = sorted(
+      [download(segment, download_dir) for segment in segments],
+      key=lambda x: int(os.path.basename(x).split("_")[0])
+    )
+
+    camera_name = segments[0].get('cam', args.camera)
+    codec = "hvc1" if camera_name.endswith("hevc") else "avc1"
+    mux(downloaded_files, f"{route_id_str}--{args.output}", codec)
+
+    if not args.keep_segments:
+      shutil.rmtree(download_dir)
+
+  except Exception as e:
+    print(f"Error: {e}")
+    sys.exit(1)
+
+
+if __name__ == "__main__":
+  main()