Added python VisionBuf class (#29075)

* Added python VisionBuf class

* fixed property names

* Bump cereal
old-commit-hash: f0ae0c34cd

cereal

@@ -1 +1 @@
-Subproject commit aed9fd278a704816aba11f4473aafefc281ed2bc
+Subproject commit a9082c826872e5650e8a8e9a6f3e5f95a4d27572

system/camerad/snapshot/snapshot.py

@@ -43,10 +43,10 @@ def yuv_to_rgb(y, u, v):
   return rgb.astype(np.uint8)
 
 
-def extract_image(buf, w, h, stride, uv_offset):
-  y = np.array(buf[:uv_offset], dtype=np.uint8).reshape((-1, stride))[:h, :w]
-  u = np.array(buf[uv_offset::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
-  v = np.array(buf[uv_offset+1::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
+def extract_image(buf):
+  y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
+  u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
 
   return yuv_to_rgb(y, u, v)
 
@@ -67,10 +67,10 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
   rear, front = None, None
   if frame is not None:
     c = vipc_clients[frame]
-    rear = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
+    rear = extract_image(c.recv())
   if front_frame is not None:
     c = vipc_clients[front_frame]
-    front = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
+    front = extract_image(c.recv())
   return rear, front
 
 

tools/replay/ui.py

@@ -113,10 +113,10 @@ def ui_thread(addr):
 
     yuv_img_raw = vipc_client.recv()
 
-    if yuv_img_raw is None or not yuv_img_raw.any():
+    if yuv_img_raw is None or not yuv_img_raw.data.any():
       continue
 
-    imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
     num_px = vipc_client.width * vipc_client.height
     bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_NV12)