don't need this, driver view works on pc

old-commit-hash: 9a82d937a77d7ab95128ec59d12ff6ae969e619a
2026-07-03 12:32:06 +08:00 · 2021-02-12 13:41:41 -08:00
parent c08ecd8b36
commit 8a0a487c0a
2 changed files with 0 additions and 108 deletions
@@ -1,29 +0,0 @@
-import numpy as np
-import cv2  # pylint: disable=import-error
-
-def rot_matrix(roll, pitch, yaw):
-  cr, sr = np.cos(roll), np.sin(roll)
-  cp, sp = np.cos(pitch), np.sin(pitch)
-  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = np.array([[1, 0, 0], [0, cr, -sr], [0, sr, cr]])
-  rp = np.array([[cp, 0, sp], [0, 1, 0], [-sp, 0, cp]])
-  ry = np.array([[cy, -sy, 0], [sy, cy, 0], [0, 0, 1]])
-  return ry.dot(rp.dot(rr))
-
-def draw_pose(img, pose, loc, W=160, H=320, xyoffset=(0, 0), faceprob=0):
-  rcmat = np.zeros((3, 4))
-  rcmat[:, :3] = rot_matrix(*pose[0:3]) * 0.5
-  rcmat[0, 3] = (loc[0]+0.5) * W
-  rcmat[1, 3] = (loc[1]+0.5) * H
-  rcmat[2, 3] = 1.0
-  # draw nose
-  p1 = np.dot(rcmat, [0, 0, 0, 1])[0:2]
-  p2 = np.dot(rcmat, [0, 0, 100, 1])[0:2]
-  tr = tuple([int(round(x + xyoffset[i])) for i, x in enumerate(p1)])
-  pr = tuple([int(round(x + xyoffset[i])) for i, x in enumerate(p2)])
-  if faceprob > 0.4:
-    color = (255, 255, 0)
-    cv2.line(img, tr, pr, color=(255, 255, 0), thickness=3)
-  else:
-    color = (64, 64, 64)
-  cv2.circle(img, tr, 7, color=color)
@@ -1,79 +0,0 @@
-#!/usr/bin/env python3
-import os
-import argparse
-import pygame  # pylint: disable=import-error
-import numpy as np
-import cv2  # pylint: disable=import-error
-
-from cereal import log
-import cereal.messaging as messaging
-
-from helpers import draw_pose
-
-if __name__ == "__main__":
-
-  os.environ["ZMQ"] = "1"
-
-  parser = argparse.ArgumentParser(description='Sniff a communcation socket')
-  parser.add_argument('--addr', default='192.168.5.11')
-  args = parser.parse_args()
-
-  messaging.context = messaging.Context()
-
-  poller = messaging.Poller()
-
-  m = 'driverMonitoring'
-  messaging.sub_sock(m, poller, addr=args.addr)
-
-  pygame.init()
-  pygame.display.set_caption('livedm')
-  screen = pygame.display.set_mode((320, 640), pygame.DOUBLEBUF)
-  camera_surface = pygame.surface.Surface((160, 320), 0, 24).convert()
-
-  while 1:
-    polld = poller.poll(1000)
-    for sock in polld:
-      msg = sock.receive()
-      evt = log.Event.from_bytes(msg)
-
-      faceProb = np.array(evt.driverMonitoring.faceProb)
-      faceOrientation = np.array(evt.driverMonitoring.faceOrientation)
-      facePosition = np.array(evt.driverMonitoring.facePosition)
-
-      print(faceProb)
-      # print(faceOrientation)
-      # print(facePosition)
-      faceOrientation[1] *= -1
-      facePosition[0] *= -1
-
-      img = np.zeros((320, 160, 3))
-      if faceProb > 0.4:
-        cv2.putText(img, 'you', (int(facePosition[0]*160+40), int(facePosition[1]*320+110)), cv2.FONT_ITALIC, 0.5, (255, 255, 0))
-        cv2.rectangle(img, (int(facePosition[0]*160+40), int(facePosition[1]*320+120)),
-                    (int(facePosition[0]*160+120), int(facePosition[1]*320+200)), (255, 255, 0), 1)
-
-        not_blink = evt.driverMonitoring.leftBlinkProb + evt.driverMonitoring.rightBlinkProb < 1
-
-        if evt.driverMonitoring.leftEyeProb > 0.6:
-          cv2.line(img, (int(facePosition[0]*160+95), int(facePosition[1]*320+140)),
-                      (int(facePosition[0]*160+105), int(facePosition[1]*320+140)), (255, 255, 0), 2)
-          if not_blink:
-            cv2.line(img, (int(facePosition[0]*160+99), int(facePosition[1]*320+143)),
-                      (int(facePosition[0]*160+101), int(facePosition[1]*320+143)), (255, 255, 0), 2)
-
-        if evt.driverMonitoring.rightEyeProb > 0.6:
-          cv2.line(img, (int(facePosition[0]*160+55), int(facePosition[1]*320+140)),
-                      (int(facePosition[0]*160+65), int(facePosition[1]*320+140)), (255, 255, 0), 2)
-          if not_blink:
-            cv2.line(img, (int(facePosition[0]*160+59), int(facePosition[1]*320+143)),
-                      (int(facePosition[0]*160+61), int(facePosition[1]*320+143)), (255, 255, 0), 2)
-
-      else:
-        cv2.putText(img, 'you not found', (int(facePosition[0]*160+40), int(facePosition[1]*320+110)), cv2.FONT_ITALIC, 0.5, (64, 64, 64))
-      draw_pose(img, faceOrientation, facePosition,
-              W=160, H=320, xyoffset=(0, 0), faceprob=faceProb)
-
-      pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
-      camera_surface_2x = pygame.transform.scale2x(camera_surface)
-      screen.blit(camera_surface_2x, (0, 0))
-      pygame.display.flip()