camerad: remove webcam + replay cameras (#24554)

* camerad: remove replay camera

* remove webcam + fix AE tests
old-commit-hash: b4091847df

release/files_common

@@ -301,8 +301,6 @@ selfdrive/camerad/snapshot/*
 selfdrive/camerad/include/*
 selfdrive/camerad/cameras/camera_common.h
 selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/camera_replay.cc
-selfdrive/camerad/cameras/camera_replay.h
 selfdrive/camerad/cameras/sensor2_i2c.h
 
 selfdrive/camerad/transforms/rgb_to_yuv.cc

selfdrive/camerad/SConscript

@@ -2,39 +2,18 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc',
 
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
 
+cameras = []
 if arch == "larch64":
   libs += ['atomic']
   cameras = ['cameras/camera_qcom2.cc']
-else:
-  env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
-  if USE_WEBCAM:
-    libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
-    cameras = ['cameras/camera_webcam.cc']
-    env = env.Clone()
-    env.Append(CXXFLAGS = '-DWEBCAM')
-    env.Append(CFLAGS = '-DWEBCAM')
-    env.Append(CPPPATH = ['/usr/include/opencv4', '/usr/local/include/opencv4'])
-  else:
-    libs += ['avutil', 'avcodec', 'avformat', 'bz2', 'ssl', 'curl', 'crypto']
-    # TODO: import replay_lib from root SConstruct
-    cameras = ['cameras/camera_replay.cc', 
-      env.Object('camera-util', '#/selfdrive/ui/replay/util.cc'),
-      env.Object('camera-framereader', '#/selfdrive/ui/replay/framereader.cc'),
-      env.Object('camera-filereader', '#/selfdrive/ui/replay/filereader.cc')]
 
-  if arch == "Darwin":
+  env.Program('camerad', [
-    del libs[libs.index('OpenCL')]
+      'main.cc',
-    del libs[libs.index(gpucommon)][gpucommon.index('GL')]
+      'cameras/camera_common.cc',
-    env = env.Clone()
+      'transforms/rgb_to_yuv.cc',
-    env['FRAMEWORKS'] = ['OpenCL', 'OpenGL']
+      'imgproc/utils.cc',
-
+      cameras,
-env.Program('camerad', [
+    ], LIBS=libs)
-    'main.cc',
-    'cameras/camera_common.cc',
-    'transforms/rgb_to_yuv.cc',
-    'imgproc/utils.cc',
-    cameras,
-  ], LIBS=libs)
 
 if GetOption("test"):
   env.Program('test/ae_gray_test', [

selfdrive/camerad/cameras/camera_common.cc

@@ -17,13 +17,11 @@
 #include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 
-#if QCOM2
+#ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
 #include "selfdrive/camerad/cameras/camera_qcom2.h"
-#elif WEBCAM
-#include "selfdrive/camerad/cameras/camera_webcam.h"
 #else
-#include "selfdrive/camerad/cameras/camera_replay.h"
+#include "selfdrive/camerad/test/camera_test.h"
 #endif
 
 ExitHandler do_exit;

selfdrive/camerad/cameras/camera_replay.h

@@ -1,25 +0,0 @@
-#pragma once
-
-#include "selfdrive/camerad/cameras/camera_common.h"
-#include "selfdrive/ui/replay/framereader.h"
-
-#define FRAME_BUF_COUNT 16
-
-typedef struct CameraState {
-  int camera_num;
-  CameraInfo ci;
-
-  int fps;
-  float digital_gain = 0;
-
-  CameraBuf buf;
-  FrameReader *frame = nullptr;
-} CameraState;
-
-typedef struct MultiCameraState {
-  CameraState road_cam;
-  CameraState driver_cam;
-
-  SubMaster *sm = nullptr;
-  PubMaster *pm = nullptr;
-} MultiCameraState;

selfdrive/camerad/cameras/camera_webcam.cc

@@ -1,197 +0,0 @@
-#include "selfdrive/camerad/cameras/camera_webcam.h"
-
-#include <unistd.h>
-
-#include <cassert>
-#include <cstring>
-
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wundefined-inline"
-#include <opencv2/core.hpp>
-#include <opencv2/highgui.hpp>
-#include <opencv2/opencv.hpp>
-#include <opencv2/videoio.hpp>
-#pragma clang diagnostic pop
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-// id of the video capturing device
-const int ROAD_CAMERA_ID = util::getenv("ROADCAM_ID", 1);
-const int DRIVER_CAMERA_ID = util::getenv("DRIVERCAM_ID", 2);
-
-#define FRAME_WIDTH  1164
-#define FRAME_HEIGHT 874
-#define FRAME_WIDTH_FRONT  1152
-#define FRAME_HEIGHT_FRONT 864
-
-extern ExitHandler do_exit;
-
-namespace {
-
-CameraInfo cameras_supported[CAMERA_ID_MAX] = {
-  // road facing
-  [CAMERA_ID_LGC920] = {
-      .frame_width = FRAME_WIDTH,
-      .frame_height = FRAME_HEIGHT,
-      .frame_stride = FRAME_WIDTH*3,
-      .bayer = false,
-      .bayer_flip = false,
-  },
-  // driver facing
-  [CAMERA_ID_LGC615] = {
-      .frame_width = FRAME_WIDTH_FRONT,
-      .frame_height = FRAME_HEIGHT_FRONT,
-      .frame_stride = FRAME_WIDTH_FRONT*3,
-      .bayer = false,
-      .bayer_flip = false,
-  },
-};
-
-void camera_open(CameraState *s, bool rear) {
-  // empty
-}
-
-void camera_close(CameraState *s) {
-  // empty
-}
-
-void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
-  assert(camera_id < std::size(cameras_supported));
-  s->ci = cameras_supported[camera_id];
-  assert(s->ci.frame_width != 0);
-
-  s->camera_num = camera_id;
-  s->fps = fps;
-  s->buf.init(device_id, ctx, s, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
-}
-
-void run_camera(CameraState *s, cv::VideoCapture &video_cap, float *ts) {
-  assert(video_cap.isOpened());
-
-  cv::Size size(s->ci.frame_width, s->ci.frame_height);
-  const cv::Mat transform = cv::Mat(3, 3, CV_32F, ts);
-  uint32_t frame_id = 0;
-  size_t buf_idx = 0;
-
-  while (!do_exit) {
-    cv::Mat frame_mat, transformed_mat;
-    video_cap >> frame_mat;
-    if (frame_mat.empty()) continue;
-
-    cv::warpPerspective(frame_mat, transformed_mat, transform, size, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);
-
-    s->buf.camera_bufs_metadata[buf_idx] = {.frame_id = frame_id};
-
-    auto &buf = s->buf.camera_bufs[buf_idx];
-    int transformed_size = transformed_mat.total() * transformed_mat.elemSize();
-    CL_CHECK(clEnqueueWriteBuffer(buf.copy_q, buf.buf_cl, CL_TRUE, 0, transformed_size, transformed_mat.data, 0, NULL, NULL));
-
-    s->buf.queue(buf_idx);
-
-    ++frame_id;
-    buf_idx = (buf_idx + 1) % FRAME_BUF_COUNT;
-  }
-}
-
-static void road_camera_thread(CameraState *s) {
-  util::set_thread_name("webcam_road_camera_thread");
-
-  cv::VideoCapture cap_road(ROAD_CAMERA_ID, cv::CAP_V4L2); // road
-  cap_road.set(cv::CAP_PROP_FRAME_WIDTH, 853);
-  cap_road.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
-  cap_road.set(cv::CAP_PROP_FPS, s->fps);
-  cap_road.set(cv::CAP_PROP_AUTOFOCUS, 0); // off
-  cap_road.set(cv::CAP_PROP_FOCUS, 0); // 0 - 255?
-  // cv::Rect roi_rear(160, 0, 960, 720);
-
-  // transforms calculation see tools/webcam/warp_vis.py
-  float ts[9] = {1.50330396, 0.0, -59.40969163,
-                  0.0, 1.50330396, 76.20704846,
-                  0.0, 0.0, 1.0};
-  // if camera upside down:
-  // float ts[9] = {-1.50330396, 0.0, 1223.4,
-  //                 0.0, -1.50330396, 797.8,
-  //                 0.0, 0.0, 1.0};
-
-  run_camera(s, cap_road, ts);
-}
-
-void driver_camera_thread(CameraState *s) {
-  cv::VideoCapture cap_driver(DRIVER_CAMERA_ID, cv::CAP_V4L2); // driver
-  cap_driver.set(cv::CAP_PROP_FRAME_WIDTH, 853);
-  cap_driver.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
-  cap_driver.set(cv::CAP_PROP_FPS, s->fps);
-  // cv::Rect roi_front(320, 0, 960, 720);
-
-  // transforms calculation see tools/webcam/warp_vis.py
-  float ts[9] = {1.42070485, 0.0, -30.16740088,
-                  0.0, 1.42070485, 91.030837,
-                  0.0, 0.0, 1.0};
-  // if camera upside down:
-  // float ts[9] = {-1.42070485, 0.0, 1182.2,
-  //                 0.0, -1.42070485, 773.0,
-  //                 0.0, 0.0, 1.0};
-  run_camera(s, cap_driver, ts);
-}
-
-}  // namespace
-
-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_ROAD, VISION_STREAM_ROAD);
-  camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
-              VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER);
-  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
-}
-
-void camera_autoexposure(CameraState *s, float grey_frac) {}
-
-void cameras_open(MultiCameraState *s) {
-  // LOG("*** open driver camera ***");
-  camera_open(&s->driver_cam, false);
-  // LOG("*** open road camera ***");
-  camera_open(&s->road_cam, true);
-}
-
-void cameras_close(MultiCameraState *s) {
-  camera_close(&s->road_cam);
-  camera_close(&s->driver_cam);
-  delete s->pm;
-}
-
-void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverCameraState();
-  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
-  fill_frame_data(framed, c->buf.cur_frame_data);
-  s->pm->send("driverCameraState", msg);
-}
-
-void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  const CameraBuf *b = &c->buf;
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initRoadCameraState();
-  fill_frame_data(framed, b->cur_frame_data);
-  framed.setImage(kj::arrayPtr((const uint8_t *)b->cur_yuv_buf->addr, b->cur_yuv_buf->len));
-  framed.setTransform(b->yuv_transform.v);
-  s->pm->send("roadCameraState", msg);
-}
-
-void cameras_run(MultiCameraState *s) {
-  std::vector<std::thread> threads;
-  threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
-
-  std::thread t_rear = std::thread(road_camera_thread, &s->road_cam);
-  util::set_thread_name("webcam_thread");
-  driver_camera_thread(&s->driver_cam);
-
-  t_rear.join();
-
-  for (auto &t : threads) t.join();
-
-  cameras_close(s);
-}

selfdrive/camerad/cameras/camera_webcam.h

@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "selfdrive/camerad/cameras/camera_common.h"
-
-#define FRAME_BUF_COUNT 16
-
-typedef struct CameraState {
-  CameraInfo ci;
-  int camera_num;
-  int fps;
-  float digital_gain;
-  CameraBuf buf;
-} CameraState;
-
-
-typedef struct MultiCameraState {
-  CameraState road_cam;
-  CameraState driver_cam;
-
-  SubMaster *sm;
-  PubMaster *pm;
-} MultiCameraState;

selfdrive/camerad/test/ae_gray_test.cc

@@ -10,12 +10,6 @@
 #include "common/util.h"
 #include "selfdrive/camerad/cameras/camera_common.h"
 
-// needed by camera_common.cc
-void camera_autoexposure(CameraState *s, float grey_frac) {}
-void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {}
-void cameras_open(MultiCameraState *s) {}
-void cameras_run(MultiCameraState *s) {}
-
 int main() {
   // set up fake camerabuf
   CameraBuf cb = {};

selfdrive/camerad/test/camera_test.h

@@ -0,0 +1,26 @@
+// TODO: cleanup AE tests
+// needed by camera_common.cc
+void camera_autoexposure(CameraState *s, float grey_frac) {}
+void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {}
+void cameras_open(MultiCameraState *s) {}
+void cameras_run(MultiCameraState *s) {}
+
+typedef struct CameraState {
+  int camera_num;
+  CameraInfo ci;
+
+  int fps;
+  float digital_gain = 0;
+
+  CameraBuf buf;
+} CameraState;
+
+typedef struct MultiCameraState {
+  CameraState road_cam;
+  CameraState driver_cam;
+
+  SubMaster *sm = nullptr;
+  PubMaster *pm = nullptr;
+} MultiCameraState;
+
+