StreamOutput: added mpegts udp output

xlib/streamer/FFMPEGStreamer.py

@@ -0,0 +1,52 @@
+import numpy as np
+
+from .. import ffmpeg as lib_ffmpeg
+
+
+class FFMPEGStreamer:
+    def __init__(self):
+        self._ffmpeg_proc = None
+        self._addr = '127.0.0.1'
+        self._port = 1234
+        self._width = 320
+        self._height = 240
+
+    def set_addr_port(self, addr : str, port : int):
+        if self._addr != addr or self._port != port:
+            self._addr = addr
+            self._port = port
+            self.stop()
+    
+    def stop(self):
+        if self._ffmpeg_proc is not None:
+            self._ffmpeg_proc.kill()
+            self._ffmpeg_proc = None
+        
+    def _restart(self):
+        self.stop()
+        args = ['-y', '-re',
+                '-f', 'rawvideo',
+                '-vcodec','rawvideo',
+                '-pix_fmt', 'bgr24',
+                '-s', f'{self._width}:{self._height}',
+                '-i', '-',
+                '-f', 'mpegts',
+                '-q:v', '2',
+                f'udp://{self._addr}:{self._port}'
+        ]
+        self._ffmpeg_proc = lib_ffmpeg.run (args, pipe_stdin=True, quiet_stderr=True)#, pipe_stderr=True)
+
+    def push_frame(self, img : np.ndarray):
+        H,W,C = img.shape
+        if self._width != W or self._height != H:
+            self._width = W
+            self._height = H
+            self.stop()
+            
+        if self._ffmpeg_proc is None:
+            self._restart()
+        
+        try:
+            self._ffmpeg_proc.stdin.write(img)
+        except:
+            self.stop()