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126 lines
3.8 KiB
126 lines
3.8 KiB
#!/usr/bin/env python3
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import subprocess
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import time
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import numpy as np
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from PIL import Image
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import cereal.messaging as messaging
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from cereal.visionipc import VisionIpcClient, VisionStreamType
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from common.params import Params
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from common.realtime import DT_MDL
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from system.hardware import PC
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from selfdrive.controls.lib.alertmanager import set_offroad_alert
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from selfdrive.manager.process_config import managed_processes
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LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h
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VISION_STREAMS = {
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"roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
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"driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
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"wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD,
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}
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def jpeg_write(fn, dat):
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img = Image.fromarray(dat)
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img.save(fn, "JPEG")
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def yuv_to_rgb(y, u, v):
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ul = np.repeat(np.repeat(u, 2).reshape(u.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
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vl = np.repeat(np.repeat(v, 2).reshape(v.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
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yuv = np.dstack((y, ul, vl)).astype(np.int16)
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yuv[:, :, 1:] -= 128
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m = np.array([
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[1.00000, 1.00000, 1.00000],
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[0.00000, -0.39465, 2.03211],
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[1.13983, -0.58060, 0.00000],
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])
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rgb = np.dot(yuv, m).clip(0, 255)
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return rgb.astype(np.uint8)
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def extract_image(buf, w, h, stride, uv_offset):
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y = np.array(buf[:uv_offset], dtype=np.uint8).reshape((-1, stride))[:h, :w]
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u = np.array(buf[uv_offset::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
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v = np.array(buf[uv_offset+1::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
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return yuv_to_rgb(y, u, v)
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def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
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sockets = [s for s in (frame, front_frame) if s is not None]
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sm = messaging.SubMaster(sockets)
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vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets}
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# wait 4 sec from camerad startup for focus and exposure
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while sm[sockets[0]].frameId < int(4. / DT_MDL):
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sm.update()
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for client in vipc_clients.values():
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client.connect(True)
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# grab images
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rear, front = None, None
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if frame is not None:
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c = vipc_clients[frame]
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rear = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
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if front_frame is not None:
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c = vipc_clients[front_frame]
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front = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
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return rear, front
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def snapshot():
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params = Params()
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if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
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print("Already taking snapshot")
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return None, None
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front_camera_allowed = params.get_bool("RecordFront")
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params.put_bool("IsTakingSnapshot", True)
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set_offroad_alert("Offroad_IsTakingSnapshot", True)
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time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start
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# Check if camerad is already started
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try:
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subprocess.check_call(["pgrep", "camerad"])
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print("Camerad already running")
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params.put_bool("IsTakingSnapshot", False)
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params.remove("Offroad_IsTakingSnapshot")
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return None, None
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except subprocess.CalledProcessError:
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pass
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try:
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# Allow testing on replay on PC
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if not PC:
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managed_processes['camerad'].start()
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frame = "wideRoadCameraState"
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front_frame = "driverCameraState" if front_camera_allowed else None
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rear, front = get_snapshots(frame, front_frame)
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finally:
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managed_processes['camerad'].stop()
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params.put_bool("IsTakingSnapshot", False)
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set_offroad_alert("Offroad_IsTakingSnapshot", False)
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if not front_camera_allowed:
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front = None
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return rear, front
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if __name__ == "__main__":
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pic, fpic = snapshot()
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if pic is not None:
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print(pic.shape)
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jpeg_write("/tmp/back.jpg", pic)
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if fpic is not None:
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jpeg_write("/tmp/front.jpg", fpic)
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else:
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print("Error taking snapshot")
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