remove old tools camera script

old-commit-hash: 0d10c00026

tools/replay/camera.py

@@ -1,104 +0,0 @@
-#!/usr/bin/env python3
-import os
-
-from common.basedir import BASEDIR
-os.environ['BASEDIR'] = BASEDIR
-SCALE = float(os.getenv("SCALE", "1"))
-
-import argparse
-import pygame  # pylint: disable=import-error
-import numpy as np
-import cv2  # pylint: disable=import-error
-import sys
-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]],
-                                [0., 0., 1.]])
-_FULL_FRAME_TO_BB = np.linalg.inv(_BB_TO_FULL_FRAME)
-_FULL_FRAME_SIZE = 1164, 874
-
-
-def pygame_modules_have_loaded():
-  return pygame.display.get_init() and pygame.font.get_init()
-
-
-def ui_thread(addr, frame_address):
-  pygame.init()
-  pygame.font.init()
-  assert pygame_modules_have_loaded()
-
-  size = (int(_FULL_FRAME_SIZE[0] * SCALE), int(_FULL_FRAME_SIZE[1] * SCALE))
-  print(size)
-  pygame.display.set_caption("comma one debug UI")
-  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
-
-  camera_surface = pygame.surface.Surface((_FULL_FRAME_SIZE[0] * SCALE, _FULL_FRAME_SIZE[1] * SCALE), 0, 24).convert()
-
-  frame = messaging.sub_sock('roadCameraState', 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)
-
-  while 1:
-    list(pygame.event.get())
-    screen.fill((64, 64, 64))
-
-    # ***** frame *****
-    fpkt = messaging.recv_one(frame)
-    yuv_img = fpkt.roadCameraState.image
-
-    if fpkt.roadCameraState.transform:
-      yuv_transform = np.array(fpkt.roadCameraState.transform).reshape(3, 3)
-    else:
-      # assume frame is flipped
-      yuv_transform = np.array([[-1.0, 0.0, _FULL_FRAME_SIZE[0] - 1],
-                                [0.0, -1.0, _FULL_FRAME_SIZE[1] - 1], [0.0, 0.0, 1.0]])
-
-    if yuv_img and len(yuv_img) == _FULL_FRAME_SIZE[0] * _FULL_FRAME_SIZE[1] * 3 // 2:
-      yuv_np = np.frombuffer(
-        yuv_img, dtype=np.uint8).reshape(_FULL_FRAME_SIZE[1] * 3 // 2, -1)
-      cv2.cvtColor(yuv_np, cv2.COLOR_YUV2RGB_I420, dst=imgff)
-      cv2.warpAffine(
-        imgff,
-        np.dot(yuv_transform, _BB_TO_FULL_FRAME)[:2], (img.shape[1], img.shape[0]),
-        dst=img,
-        flags=cv2.WARP_INVERSE_MAP)
-    else:
-      # actually RGB
-      if len(yuv_img) != 0:
-        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(
-      img, (int(SCALE * width), int(SCALE * height)), interpolation=cv2.INTER_CUBIC)
-    # *** blits ***
-    pygame.surfarray.blit_array(camera_surface, img_resized.swapaxes(0, 1))
-    screen.blit(camera_surface, (0, 0))
-
-    # this takes time...vsync or something
-    pygame.display.flip()
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument(
-    "ip_address",
-    nargs="?",
-    default="127.0.0.1",
-    help="The ip address on which to receive zmq messages.")
-
-  parser.add_argument(
-    "--frame-address",
-    default=None,
-    help="The ip address on which to receive zmq messages.")
-  return parser
-
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-  ui_thread(args.ip_address, args.frame_address)