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ui.py: use YUV stream

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This commit is contained in:
Willem Melching
2022-05-25 17:37:21 +02:00
parent 65056b77c2
commit 2bdb2cb40a
1 changed files with 7 additions and 11 deletions
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tools/replay/ui.py
+7 -11
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@@ -99,7 +99,7 @@ def ui_thread(addr):
draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_RGB_ROAD, True)
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
while 1:
list(pygame.event.get())
@@ -111,21 +111,17 @@ def ui_thread(addr):
if not vipc_client.is_connected():
vipc_client.connect(True)
rgb_img_raw = vipc_client.recv()
yuv_img_raw = vipc_client.recv()
if rgb_img_raw is None or not rgb_img_raw.any():
if yuv_img_raw is None or not yuv_img_raw.any():
continue
num_px = len(rgb_img_raw) // 3
imgff_shape = (vipc_client.height, vipc_client.width, 3)
imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
num_px = vipc_client.width * vipc_client.height
bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_I420)
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((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)
cv2.warpAffine(bgr, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
intrinsic_matrix = _INTRINSICS[num_px]