mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-26 16:32:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

replay/ui.py: get image from vipc (#22433)

Browse Source 
* get image from vipc

* cleanup import

* if not None

* lgtm

* bump cereal&do reconnect

* bump cereal

Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Dean Lee
2021-10-05 21:14:38 +08:00
committed by GitHub
parent de88349ef0
commit 2a8feb9eb9
2 changed files with 11 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cereal
+1 -1
Submodule cereal updated: 2881d47cea...d5a85fe5d7
tools/replay/ui.py
+10 -9
View File
@@ -13,13 +13,14 @@ import cereal.messaging as messaging
from common.numpy_fast import clip
from common.basedir import BASEDIR
from selfdrive.config import UIParams as UP
from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, _FULL_FRAME_SIZE,
from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME,
_INTRINSICS, BLACK, GREEN,
YELLOW, Calibration,
get_blank_lid_overlay, init_plots,
maybe_update_radar_points, plot_lead,
plot_model,
pygame_modules_have_loaded)
from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionStreamType # pylint: disable=no-name-in-module, import-error
os.environ['BASEDIR'] = BASEDIR
@@ -55,7 +56,6 @@ def ui_thread(addr, frame_address):
camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
frame = messaging.sub_sock('roadCameraState', addr=addr, conflate=True)
sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
'liveTracks', 'modelV2', 'liveParameters', 'lateralPlan', 'roadCameraState'], addr=addr)
@@ -101,6 +101,7 @@ def ui_thread(addr, frame_address):
draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles, bigplots=True)
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_RGB_BACK, True)
while 1:
list(pygame.event.get())
@@ -109,19 +110,19 @@ def ui_thread(addr, frame_address):
top_down = top_down_surface, lid_overlay
# ***** frame *****
fpkt = messaging.recv_one(frame)
rgb_img_raw = fpkt.roadCameraState.image
if not vipc_client.is_connected():
vipc_client.connect(True)
num_px = len(rgb_img_raw) // 3
if rgb_img_raw and num_px in _FULL_FRAME_SIZE.keys():
FULL_FRAME_SIZE = _FULL_FRAME_SIZE[num_px]
rgb_img_raw = vipc_client.recv()
imgff_shape = (FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3)
if rgb_img_raw is not None and rgb_img_raw.any():
num_px = len(rgb_img_raw) // 3
imgff_shape = (vipc_client.height, vipc_client.width, 3)
if imgff is None or imgff.shape != imgff_shape:
imgff = np.zeros(imgff_shape, dtype=np.uint8)
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape((FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3))
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape((vipc_client.height, vipc_client.width, 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
zoom_matrix = _BB_TO_FULL_FRAME[num_px]
cv2.warpAffine(imgff, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)