spacecruft/nopenpilot
spacecruft/nopenpilot
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

fix camera.py

Browse source
This commit is contained in:
George Hotz 2020-04-21 14:59:15 -07:00
parent dd22cfcd13
commit b9f588245c
1 changed files with 7 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

13
tools/replay/camera.py
View file

@ -3,7 +3,7 @@ import os
from common.basedir import BASEDIR
os.environ['BASEDIR'] = BASEDIR
SCALE = 3
SCALE = 1
import argparse
import zmq
@ -18,6 +18,7 @@ from common.params import Params
from tools.lib.lazy_property import lazy_property
from cereal.messaging import sub_sock, recv_one_or_none, recv_one
from cereal.services import service_list
import cereal.messaging as messaging
_BB_OFFSET = 0, 0
_BB_TO_FULL_FRAME = np.asarray([[1., 0., _BB_OFFSET[0]], [0., 1., _BB_OFFSET[1]],
@ -44,9 +45,7 @@ def ui_thread(addr, frame_address):
camera_surface = pygame.surface.Surface((_FULL_FRAME_SIZE[0] * SCALE, _FULL_FRAME_SIZE[1] * SCALE), 0, 24).convert()
frame = context.socket(zmq.SUB)
frame.connect(frame_address or "tcp://%s:%d" % (addr, service_list['frame'].port))
frame.setsockopt(zmq.SUBSCRIBE, "")
frame = messaging.sub_sock('frame', conflate=True)
img = np.zeros((_FULL_FRAME_SIZE[1], _FULL_FRAME_SIZE[0], 3), dtype='uint8')
imgff = np.zeros((_FULL_FRAME_SIZE[1], _FULL_FRAME_SIZE[0], 3), dtype=np.uint8)
@ -56,7 +55,7 @@ def ui_thread(addr, frame_address):
screen.fill((64, 64, 64))
# ***** frame *****
fpkt = recv_one(frame)
fpkt = messaging.recv_one(frame)
yuv_img = fpkt.frame.image
if fpkt.frame.transform:
@ -76,7 +75,9 @@ def ui_thread(addr, frame_address):
dst=img,
flags=cv2.WARP_INVERSE_MAP)
else:
img.fill(0)
# actually RGB
img = np.frombuffer(yuv_img, dtype=np.uint8).reshape((_FULL_FRAME_SIZE[1], _FULL_FRAME_SIZE[0], 3))
img = img[:, :, ::-1] # Convert BGR to RGB
height, width = img.shape[:2]
img_resized = cv2.resize(