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Rename RGB vision streams to match YUV streams (#23961) 

* Renaming VISION_STREAM_RGB_.. to match yuv names like VISION_STREAM_ROAD
VISION_STREAM_RGB_BACK -> VISION_STREAM_RGB_ROAD
VISION_STREAM_RGB_FRONT -> VISION_STREAM_RGB_DRIVER

* little more

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/23967/head
Gijs Koning 2022-03-14 22:03:54 +01:00 committed by GitHub
parent 08c2d066cf
commit 57b6fdc17a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
14 changed files with 30 additions and 30 deletions
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2
cereal

@ -1 +1 @@
Subproject commit 84a1793eb4d09821f23613b98d80e2ce4ee57b9c
Subproject commit e2a813144f93dc58a6cc15627915b23fbfa04d0d

4
selfdrive/camerad/cameras/camera_qcom.cc
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@ -211,12 +211,12 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
/*fps*/ 20,
#endif
device_id, ctx,
VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD);
VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD);
camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 1,
/*pixel_clock=*/72000000, /*line_length_pclk=*/1602,
/*max_gain=*/510, 10, device_id, ctx,
VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER);
s->sm = new SubMaster({"driverState"});
s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});

6
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -743,12 +743,12 @@ void CameraState::camera_open() {
}
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER);
printf("driver camera initted \n");
if (!env_only_driver) {
s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD); // swap left/right
printf("road camera initted \n");
s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD);
printf("wide road camera initted \n");
}

4
selfdrive/camerad/cameras/camera_replay.cc
View File

@ -98,9 +98,9 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD, get_url(road_camera_route, "fcamera", 0));
VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, get_url(road_camera_route, "fcamera", 0));
// camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
// VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER, get_url(driver_camera_route, "dcamera", 0));
// VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER, get_url(driver_camera_route, "dcamera", 0));
s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
}

4
selfdrive/camerad/cameras/camera_webcam.cc
View File

@ -141,9 +141,9 @@ void driver_camera_thread(CameraState *s) {
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD);
VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD);
camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER);
s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
}

6
selfdrive/camerad/snapshot/snapshot.py
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@ -17,9 +17,9 @@ from selfdrive.manager.process_config import managed_processes
LM_THRESH = 120 # defined in selfdrive/camerad/imgproc/utils.h
VISION_STREAMS = {
"roadCameraState": VisionStreamType.VISION_STREAM_RGB_BACK,
"driverCameraState": VisionStreamType.VISION_STREAM_RGB_FRONT,
"wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE,
"roadCameraState": VisionStreamType.VISION_STREAM_RGB_ROAD,
"driverCameraState": VisionStreamType.VISION_STREAM_RGB_DRIVER,
"wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD,
}

2
selfdrive/test/process_replay/regen.py
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@ -159,7 +159,7 @@ def replay_cameras(lr, frs):
args=(s, stream, dt, vs, frames, size)))
# hack to make UI work
vs.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, eon_f_frame_size[0], eon_f_frame_size[1])
vs.create_buffers(VisionStreamType.VISION_STREAM_RGB_ROAD, 4, True, eon_f_frame_size[0], eon_f_frame_size[1])
vs.start_listener()
return vs, p

2
selfdrive/ui/qt/offroad/driverview.cc
View File

@ -12,7 +12,7 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
layout = new QStackedLayout(this);
layout->setStackingMode(QStackedLayout::StackAll);
cameraView = new CameraViewWidget("camerad", VISION_STREAM_RGB_FRONT, true, this);
cameraView = new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, true, this);
layout->addWidget(cameraView);
scene = new DriverViewScene(this);

4
selfdrive/ui/qt/onroad.cc
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@ -20,7 +20,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
QStackedLayout *road_view_layout = new QStackedLayout;
road_view_layout->setStackingMode(QStackedLayout::StackAll);
nvg = new NvgWindow(VISION_STREAM_RGB_BACK, this);
nvg = new NvgWindow(VISION_STREAM_RGB_ROAD, this);
road_view_layout->addWidget(nvg);
hud = new OnroadHud(this);
road_view_layout->addWidget(hud);
@ -97,7 +97,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
// update stream type
bool wide_cam = Hardware::TICI() && Params().getBool("EnableWideCamera");
nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK);
nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE_ROAD : VISION_STREAM_RGB_ROAD);
}
void OnroadWindow::paintEvent(QPaintEvent *event) {

8
selfdrive/ui/qt/widgets/cameraview.cc
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@ -123,7 +123,7 @@ void CameraViewWidget::initializeGL() {
GLint frame_pos_loc = program->attributeLocation("aPosition");
GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_FRONT ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
const float frame_coords[4][4] = {
{-1.0, -1.0, x2, y1}, // bl
@ -171,12 +171,12 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
void CameraViewWidget::updateFrameMat(int w, int h) {
if (zoomed_view) {
if (stream_type == VISION_STREAM_RGB_FRONT) {
if (stream_type == VISION_STREAM_RGB_DRIVER) {
frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
} else {
auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
float zoom = ZOOM / intrinsic_matrix.v[0];
if (stream_type == VISION_STREAM_RGB_WIDE) {
if (stream_type == VISION_STREAM_RGB_WIDE_ROAD) {
zoom *= 0.5;
}
float zx = zoom * 2 * intrinsic_matrix.v[2] / width();

6
selfdrive/ui/replay/camera.h
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@ -32,9 +32,9 @@ protected:
void cameraThread(Camera &cam);
Camera cameras_[MAX_CAMERAS] = {
{.type = RoadCam, .rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_ROAD},
{.type = DriverCam, .rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_DRIVER},
{.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_WIDE_ROAD},
{.type = RoadCam, .rgb_type = VISION_STREAM_RGB_ROAD, .yuv_type = VISION_STREAM_ROAD},
{.type = DriverCam, .rgb_type = VISION_STREAM_RGB_DRIVER, .yuv_type = VISION_STREAM_DRIVER},
{.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE_ROAD, .yuv_type = VISION_STREAM_WIDE_ROAD},
};
std::atomic<int> publishing_ = 0;
std::unique_ptr<VisionIpcServer> vipc_server_;

6
selfdrive/ui/watch3.cc
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@ -20,14 +20,14 @@ int main(int argc, char *argv[]) {
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_RGB_MAP, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_BACK, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_ROAD, false));
}
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_FRONT, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_WIDE, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_WIDE_ROAD, false));
}
return a.exec();

2
tools/replay/ui.py
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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_BACK, True)
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_RGB_ROAD, True)
while 1:
list(pygame.event.get())

4
tools/sim/bridge.py
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@ -67,7 +67,7 @@ class Camerad:
self.vipc_server = VisionIpcServer("camerad")
# TODO: remove RGB buffers once the last RGB vipc subscriber is removed
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, W, H)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_ROAD, 4, True, W, H)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, W, H)
self.vipc_server.start_listener()
@ -97,7 +97,7 @@ class Camerad:
eof = self.frame_id * 0.05
# TODO: remove RGB send once the last RGB vipc subscriber is removed
self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_BACK, img.tobytes(), self.frame_id, eof, eof)
self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_ROAD, img.tobytes(), self.frame_id, eof, eof)
self.vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, yuv.data.tobytes(), self.frame_id, eof, eof)
dat = messaging.new_message('roadCameraState')