import ffmpeg
import numpy as np
from ultralytics import YOLO
import paho.mqtt.client as mqtt
from filterpy.kalman import UnscentedKalmanFilter as UKF
from filterpy.kalman import MerweScaledSigmaPoints
import time

width = 1280
height = 720
fps = 60
frameCount = 0

# Setup the ffmpeg stream
input_stream = ffmpeg.input('video="0":video_size={}x{}:framerate={}'.format(width, height, fps))
output_stream = ffmpeg.output(input_stream, 'pipe:1', format='rawvideo', pix_fmt='bgr24')

# Initialize the stream
process = ffmpeg.run_async(output_stream, pipe_stdout=True, pipe_stderr=True)

frameTime = time.time()

while True:
    # Read a frame from the stream
    in_bytes = process.stdout.read(width * height * 3)
    if len(in_bytes) < width * height * 3:
        break  # End of stream

    # Convert bytes to numpy array
    frame = np.frombuffer(in_bytes, np.uint8).reshape([height, width, 3])

    frameCount += 1

    if (time.time() - frameTime) > 10:
        trueFPS = frameCount / (time.time()-frameTime)
        print(trueFPS)
        break

# Close the process
process.stdout.close()
process.stderr.close()
process.wait()