live sonar feed, and incremental action feed

FishMeasure/generate_video_with_labels.py

@@ -30,6 +30,27 @@ except ImportError:
     ZED_AVAILABLE = False
 
 
+def _open_video_writer(path: Path, fps: float, size: Tuple[int, int]) -> cv2.VideoWriter:
+    """Open a VideoWriter, preferring GStreamer NVENC on Jetson for hardware H.264."""
+    w, h = size
+    try:
+        if hasattr(cv2, "CAP_GSTREAMER"):
+            loc = str(path).replace('"', '\\"')
+            gst_pipe = (
+                f'appsrc ! videoconvert ! video/x-raw,format=BGRx ! '
+                f'nvvidconv ! video/x-raw(memory:NVMM) ! '
+                f'nvv4l2h264enc bitrate=4000000 ! h264parse ! '
+                f'mp4mux ! filesink location="{loc}"'
+            )
+            writer = cv2.VideoWriter(gst_pipe, cv2.CAP_GSTREAMER, 0, fps, (w, h))
+            if writer.isOpened():
+                return writer
+            writer.release()
+    except Exception:
+        pass
+    return cv2.VideoWriter(str(path), cv2.VideoWriter_fourcc(*"mp4v"), fps, (w, h))
+
+
 def _parse_weight_json(weight_json: Path) -> Tuple[
     Dict[int, Tuple[float, float]],
     Optional[float],
@@ -310,7 +331,7 @@ def generate_video(
 
     video_path = images_dir / (output_video_name or f"{svo_name}_preview.mp4")
     h, w = frames[0].shape[:2]
-    writer = cv2.VideoWriter(str(video_path), cv2.VideoWriter_fourcc(*"mp4v"), 10.0, (w, h))
+    writer = _open_video_writer(video_path, 10.0, (w, h))
     for f in frames:
         writer.write(f)
     writer.release()
@@ -332,7 +353,7 @@ def main():
     parser.add_argument("--show-large-labels-at-top-right", action="store_true")
     parser.add_argument(
         "--summary-star",
-        action=argparse.BooleanOptionalAction,
+        action="store_true",
         default=False,
         help="Whether to draw * on the Final summary line; caller/DB is the source of truth.",
     )