3stream

selfdrive/camerad/test/tici_zclient/livergb.py

@@ -3,7 +3,10 @@ import numpy as np
 import cv2
 from time import time, sleep
 
-H, W = (604, 964)
+H, W = (604//3, 964//3)
+# H, W = (604, 964)
+
+cam_bufs = np.zeros((3,H,W,3), dtype=np.uint8)
 
 if __name__ == '__main__':
   import zmq
@@ -18,11 +21,13 @@ if __name__ == '__main__':
       message = b"123"
 
     dat = np.frombuffer(message, dtype=np.uint8)
+    cam_id = dat[0]
+    # import pdb; pdb.set_trace()
     b = dat[::3].reshape(H, W)
     g = dat[1::3].reshape(H, W)
     r = dat[2::3].reshape(H, W)
-    rgb = cv2.merge((r, g, b))
+    cam_bufs[cam_id] = cv2.merge((r, g, b))
-    rgb = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
+    cam_bufs[cam_id]= cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_RGB2BGR)
-    cv2.imshow('RGB',rgb)
+    cv2.imshow('RGB',cam_bufs.reshape((3*H,W,3)))
     cv2.waitKey(20)
     dat.tofile('/tmp/c3rgb.img')