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unlogger: put YUV vipc send behind flag

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This commit is contained in:
Adeeb Shihadeh
2021-06-03 21:53:16 -07:00
parent cacdbea658
commit 4b6ec3bca6
2 changed files with 12 additions and 7 deletions
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tools/lib/framereader.py
+1 -1
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@@ -196,7 +196,7 @@ def rgb24toyuv420(rgb):
img = np.dot(rgb.reshape(-1, 3), yuv_from_rgb.T).reshape(rgb.shape)
y_len = img.shape[0] * img.shape[1]
uv_len = y_len / 4
uv_len = y_len // 4
ys = img[:, :, 0]
us = (img[::2, ::2, 1] + img[1::2, ::2, 1] + img[::2, 1::2, 1] + img[1::2, 1::2, 1]) / 4 + 128
tools/replay/unlogger.py
+11 -6
View File
@@ -21,6 +21,7 @@ from common.transformations.camera import eon_f_frame_size, tici_f_frame_size
from tools.lib.kbhit import KBHit
from tools.lib.logreader import MultiLogIterator
from tools.lib.route import Route
from tools.lib.framereader import rgb24toyuv420
from tools.lib.route_framereader import RouteFrameReader
# Commands.
@@ -115,21 +116,25 @@ class UnloggerWorker(object):
print("FRAME(%d) LAG -- %.2f ms" % (frame_id, fr_time*1000.0))
if img is not None:
extra = (smsg.roadCameraState.frameId, smsg.roadCameraState.timestampSof, smsg.roadCameraState.timestampEof)
# send YUV frame
if os.getenv("YUV") is not None:
img_yuv = rgb24toyuv420(img)
data_socket.send_pyobj((cookie, VIPC_YUV, msg.logMonoTime, route_time, extra), flags=zmq.SNDMORE)
data_socket.send(img_yuv.flatten().tobytes(), copy=False)
img = img[:, :, ::-1] # Convert RGB to BGR, which is what the camera outputs
img = img.flatten()
bts = img.tobytes()
smsg.roadCameraState.image = bts
extra = (smsg.roadCameraState.frameId, smsg.roadCameraState.timestampSof, smsg.roadCameraState.timestampEof)
# send RGB frame
data_socket.send_pyobj((cookie, VIPC_RGB, msg.logMonoTime, route_time, extra), flags=zmq.SNDMORE)
data_socket.send(bts, copy=False)
img_yuv = self._frame_reader.get(frame_id, pix_fmt="yuv420p")
if img_yuv is not None:
data_socket.send_pyobj((cookie, VIPC_YUV, msg.logMonoTime, route_time, extra), flags=zmq.SNDMORE)
data_socket.send(img_yuv.flatten().tobytes(), copy=False)
data_socket.send_pyobj((cookie, typ, msg.logMonoTime, route_time), flags=zmq.SNDMORE)
data_socket.send(smsg.to_bytes(), copy=False)